| 直线超声波电机伺服系统建模及鲁棒控制 |
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| 引用本文： | 唐苹,刘强.直线超声波电机伺服系统建模及鲁棒控制[J].华侨大学学报(自然科学版),2010,31(1). |
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| 作者姓名： | 唐苹 刘强 |
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| 作者单位： | 华侨大学,机电及自动化学院,福建,泉州,362021 |
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| 基金项目： | 福建省自然科学基金资助项目(E0510023);;福建省高校新世纪优秀人才计划项目(E0510023) |
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| 摘 要： | 为解决超声波电机精确建模的问题,将二阶传递函数作为名义模型,通过频域辨识建立超声波伺服系统的线性模型.引入干扰观测器,以抑制各种外部力扰动,并增强伺服系统对参数变化的鲁棒性.以直线超声波电机为例进行仿真和实验,结果表明,控制方法对外部力扰动和参数变化均具有很强的鲁棒性,可以提高超声波电机的运动控制精度.
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| 关 键 词： | 超声波电机 干扰观测器 系统辨识 线性模型 鲁棒控制 |
Study of Modeling and Robust Control of Linear Ultrasonic Motor Servo System |
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| TANG Ping,LIU Qiang.Study of Modeling and Robust Control of Linear Ultrasonic Motor Servo System[J].Journal of Huaqiao University(Natural Science),2010,31(1). |
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| Authors: | TANG Ping LIU Qiang |
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| Institution: | College of Mechanical Engineering and Automation;Huaqiao University;Quanzhou 362021;China |
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| Abstract: | To solve the problem of precise modeling of ultrasonic motor(USM),the linear model of its servo system is built using frequency domain identification method and regarding the second-order transfer function as the nominal model.Disturbance observer is introduced in the controller design to decrease all kinds of external force disturbance,and improve the robustness to parameter uncertainties.Computer simulation and experiment were developed for USM,and the results show that the proposed control method has str... |
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| Keywords: | ultrasonic motor disturbance observer system identification linear modeling robust control |
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