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直接驱动系统的自适应性干扰拒绝运动控制,可调节的缓冲比,基于泽塔倒退

Zhongjin Zhang¹, Zhitai Liu¹, Weiyang Lin¹

¹Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China.

Biomimetics (Basel, Switzerland)

|December 27, 2024

概括

本研究引入了直驱伺服系统的自适应控制方案,提高了对不确定性的精度和稳定性. 该方法提高了跟踪精度和干扰抑制在应用程序,如仿生机器人.

科学领域:

机器人和控制系统机器人和控制系统
机械电子学是什么意思机械电子学
应用物理应用物理

背景情况:

直接驱动的伺服系统对于仿生机器人至关重要,但由于不确定性和干扰,其性能下降.
现有的控制方法经常与模型参数不确定性和外部干扰作斗争,限制精度.
铁芯永磁线性同步电机 (PMLSM) 是常见的平台,需要强大的控制策略.

研究的目的:

开发一种适应性排斥干扰的Zeta-backstepping控制方案,具有可调节的缓冲比,以提高直驱伺服系统的稳定性和精度.
解决PMLSMs中的模型参数不确定性和未建模的动态.
提供灵活的控制方法,以实现生物应用中所需的动态性能.

主要方法:

为铁芯PMLSM开发动态模型,包括对摩擦和合力的补偿.
实施间接参数适应策略,使用递归最小平方算法实现基于系统状态的稳健参数收.
构建一个集成的滑动模式观测器 (ISMO),用于有限时间估计和对剩余不确定性的补偿.
一个Zeta-backstepping控制器的设计,具有参数化的控制规律,用于可调节的缓冲比率.
系统稳定性和边界跟踪性能的验证,使用二阶利亚普诺夫函数分析.

主要成果:

拟议的自适应控制方案显著提高了PMLSM的跟踪精度和干扰抑制.
控制器成功地实现了可调节的缓冲比特征,提供了性能灵活性.
通过间接适应策略实现了强大的参数融合,即使是基于系统状态的更新.
整体滑动模式观察器在有限的时间内有效估计和补偿系统不确定性.
在PMLSM平台上的实验验证证证了理论预测和实际有效性.

结论:

适应性干扰排斥 Zeta-backstepping 控制方案为直驱伺服系统提供了强大而精确的解决方案.
可调节的缓冲比率功能为优化各种应用中的动态性能提供了更高的灵活性.
开发的控制策略显示了在仿生机器人和其他生物系统中推进精密控制的巨大潜力.
参数调整和整体滑动模式观测的结合有效地处理系统不确定性和干扰.

关键词:

逐步退回的方法.合力是一种合力.阻尼比率的阻尼比率是什么直接驱动系统的直接驱动系统整体的滑动模式观察员观察员.参数适应性适应性的参数

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