文献类型：期刊文献

中文题名：基于位置测量的机电系统建模及其控制

英文题名：Position-Based Modeling and Controlling for Mechatronic Systems

作者：杜红彬[1];康小明[1];杨克浊[1]

机构：[1]华东理工大学自动化系,上海200237

年份：2015

卷号：30

期号：6

起止页码：5

中文期刊名：自动化与仪表

外文期刊名：Automation & Instrumentation

收录：CSTPCD

语种：中文

中文关键词：动态尺度化观测器;摩擦力辨识;摩擦力模型;控制

外文关键词：dynamically scaling observer;identification of friction ;friction model ;control

摘要：机电运动系统常常是受未知转动惯量和摩擦力影响的非线性系统,如何对这类系统进行快速、精确地建模是当前研究的一个热点。在实际应用中,如何选择合适的采样周期来实现差分测速常常是一个很棘手的问题。该文针对摩擦力的局部性的特点,提出一种新颖的基于位置测量的快速辨识算法,并设计了基于动态尺度化的观测器的输出反馈控制,证明了闭环系统的收敛性。从仿真结果可以看出,本方法具有良好的性能。
The mechatronic systems are a class of nonlinear systems which are often determined by the unknown fric-tion and the inertia,how to build models for such these systems in a rapid and accurate way is a challenge in cur-rent research. In practical,speed measurement of the DC motor is often obtained by the backward difference of en-coder sensor in a timer,but how to choose a proper period for this timer for differencing is much difficult. In thispaper,by the local feature of friction,a new rapid identification algorithm with position measurement rather thanspeed measurement is presented. Meanwhile,a dynamically scaling observer based output feedback controller is de-signed with the guaranteed convergence of the closed-loop system. The simulation has verified the good performanceof the designs.