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利用一类具有“小误差放大,大误差饱和”功能的非线性饱和函数,设计了非线性比例及线性微分加系统动力(NP-D+)控制算法.与传统的输出反馈控制算法相比,在忽略系统柔性影响的条件下,获得了谐波驱动系统更快的响应速度,并实现了对系统运动误差的有效补偿.应用李亚普诺夫稳定性理论证明了闭环系统的半全局渐近稳定性.数值仿真结果证明了所提的NP-D+输出反馈控制算法的有效性.
A nonlinear proportional and linear differential system-plus-power (NP-D +) control algorithm is designed by using a class of nonlinear saturation functions with the function of “small error amplification and large error saturation.” Compared with the traditional output feedback control algorithm , The faster response speed of the harmonic drive system is obtained under the condition of ignoring the system flexibility and the effective compensation of the system motion error is achieved.The semi-global asymptotic stability of the closed-loop system is proved by the Lyapunov stability theory The numerical simulation results show the effectiveness of the proposed NP-D + output feedback control algorithm.