伺服系统低速特性的自适应控制

低速特性是伺服系统的一个重要指标,而其影响因素很多,摩擦力矩则是其中的一个主要因素。为消除这种不利影响,建立了考虑摩擦因素的伺服控制系统模型;在此基础上,设计了库伦摩擦自适应控制器,并进行了仿真分析,同时与传统PID控制做了比较。结果表明,模型参考自适应控制大大提高了伺服系统的低速精度,为消除其他非线性因素给伺服系统造成的不利影响提供了理论和试验依据。

Low Speed Adaptive Controller for Servo System

The low speed characteristic is an important index for a servo system.It is affected by many factors in which friction torque is the main factor.In order to eliminate such bad effect,a model is set for the servo system,which has considered the friction characteristic.Based on this,the Kunlun friction adaptive controller is designed,and simulation analysis is carried on.Compared with the traditional PID controller,the Kunlun friction adaptive controller greatly improves the low speed precision of the servo system,and provides a theoretical and experimental basis for eliminating the disadvantageous influences exerted on the servo system by the other nonlinear factors.