井冈山大学学报（自然科学版）2016，Vol.37Issue(3)：48-54,7.DOI:10.3969/j.issn.1674-8085.2016.03.010
双电机驱动伺服系统的全系数自适应控制
ALL-COEFFICIENT ADAPTIVE CONTROL OF DUAL-MOTOR DRIVING SERVO SYSTEM
摘要
Abstract
Backlash nonlinearity and friction nonlinearity exist in dual-motor driving servo system, which reducing system response speed, steady accuracy and anti-interference ability. In order to diminish the adverse effects of backlash and friction nonlinearity to system, we proposed a new all-coefficient adaptive control method. Firstly, we introduced the dynamic model of backlash and friction nonlinearity respectively. Then on this basis, we established the characteristic model when backlash and friction nonlinearity coexist. Finally the all-coefficient adaptive controller was designed. The simulations of feed forward all-coefficient adaptive control and simplex all-coefficient adaptive control were compared, the results showed that the former has quicker response speed, higher steady accuracy, stronger anti-interference performance and better robustness, which validating the efficacy of the proposed control strategy.关键词
双电机驱动/齿隙非线性/摩擦非线性/特征模型/全系数自适应控制Key words
dual-motor driving/backlash nonlinearity/friction nonlinearity/characteristic model/all-coefficient adaptive control分类
信息技术与安全科学引用本文复制引用
赵海波,王承光,宋勇..双电机驱动伺服系统的全系数自适应控制[J].井冈山大学学报（自然科学版）,2016,37(3):48-54,7.基金项目
安徽省自然科学基金面上项目（1508085MF130）；安徽省高校自然科学研究重点项目(KJ2015A297) （KJ2015A297）
