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针对AC伺服电机系统,在转矩及转动惯量变化情况下,对比反推自适应控制和滑膜控制两种方法在系统参数变化和阻力扰动的鲁棒性。仿真情况包括理想模型、摩擦力扰动、执行器饱和等。仿真结果表明反推自适应控制对系统变化具有很强鲁棒性,但是更容易受到执行器饱和影响;滑模控制方法更容易实现,但是在摩擦扰动存在情况下,振动式冲击难以消除。
For the AC servo motor system, under the circumstance of the changes of torque and moment of inertia, the robustness of the system parameters variation and resistance disturbance are compared between the two methods of backstepping adaptive control and synovial control. Simulation includes ideal model, friction disturbance, actuator saturation and so on. The simulation results show that the backstepping adaptive control is robust to system changes, but it is more likely to be affected by the actuator saturation. The sliding mode control method is easier to implement. However, it is difficult to eliminate the vibration shock in the presence of friction disturbance.