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	直线电机位置轨迹自适应渐近跟踪
	金文光 ; 程国卿 ; Jin Wenguang ; Cheng Guoqing
	2010-06-09 ; 2010-06-09
关键词	直线电机 跟踪控制 观测器 后推技术 扰动 Linear motor tracking control observer backstepping disturbance TM359.4
其他题名	Adaptive Asymptotic Tracking of Position Trajectory in Linear Motors
中文摘要	针对直线电机构成的伺服系统中存在的负载扰动和端部效应等阻力扰动,设计了一个自适应的轨迹渐近跟踪控制器;控制律的实现只涉及输出位移的测量信号,而不必依赖于速度的测量;先引入一个基于K滤波器结构的降阶观测器,接着利用自适应观测器后推技术设计了轨迹跟踪控制器和扰动参数估计的自适应律;对闭环系统的稳定性和渐近跟踪能力做了理论分析,并进行了仿真研究;仿真结果表明;设计的控制器可以实现对目标轨迹的渐近跟踪;在系统持续激励的情况下,扰动参数的估计可以收敛到真正的值。; For linear motor servo systems with significant resistance disturbances such as load and end effect, an adaptive controller is designed for asymptotic trajectory tracking. The designed control law does not require the velocity measurement, only the output displacement needs to be measured. A reduced-order observer is first designed using the so-called K -filter structure, then the adaptive observer backstepping technique is applied to derive the trajectory tracking controller together with an adaptation law for disturbance parameters. The closed - loop stability and asymptotic tracking capability are then analyzed theoretically. Simulation studies have been carried out. Simulation results verify that the controller is capable of tracking the target trajectory asymptotically and the parameter estimator converges to its true value when the system is under persistent excitation.
语种	中文 ; 中文
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/57214]
专题	清华大学
推荐引用方式 GB/T 7714	金文光,程国卿,Jin Wenguang,等. 直线电机位置轨迹自适应渐近跟踪[J],2010, 2010.
APA	金文光,程国卿,Jin Wenguang,&Cheng Guoqing.(2010).直线电机位置轨迹自适应渐近跟踪..
MLA	金文光,et al."直线电机位置轨迹自适应渐近跟踪".(2010).

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