计入摩擦的进给伺服系统自适应滑模控制方法研究

李淑超; 刘丽兰; 任博林; 张小静

doi:10.13433/j.cnki.1003-8728.2017.0907

计入摩擦的进给伺服系统自适应滑模控制方法研究

doi: 10.13433/j.cnki.1003-8728.2017.0907

1.
西安理工大学机械与精密仪器工程学院, 西安 710048

基金项目:

国家自然科学基金项目（51205307）资助

详细信息

作者简介:
李淑超(1990-),硕士研究生,研究方向为机械动力学,15102982399@163.com

通讯作者:
刘丽兰(联系人),副教授,博士,liulilans@163.com

计量
- 文章访问数: 210
- HTML全文浏览量: 31
- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2016-08-17
- 刊出日期: 2017-09-05

Study on Adaptive Sliding Mode Control for Feed Servo System with Friction

1.
School of Mechanical and Instrumental Engineering, Xi'an University of Technology, Xi'an 710048, China

摘要

摘要: 针对具有非线性摩擦和有界外部扰动的进给伺服系统，设计了一种自适应滑模控制器。该控制器采用自适应算法建立了摩擦力的线性边界，将其作为滑模控制项增益，利用滑模控制项补偿摩擦和外部扰动，使系统跟踪误差渐进收敛于要求的允差内。基于Lyapunov稳定性理论证明了闭环控制系统的全局稳定性。仿真结果表明该控制器能有效补偿摩擦和外部扰动，相对于传统的PD和PID控制，显著提高了进给伺服系统的跟踪精度，并对系统参数和摩擦的不确定性具有一定的鲁棒性。
- 进给伺服系统 /
- 摩擦补偿 /
- 自适应算法 /
- 滑模控制 /
- 鲁棒性
Abstract: An adaptive sliding mode controller is presented for the feed servo system with nonlinear friction and bounded external disturbances. The controller has a sliding control input to compensate the friction and external disturbances so that the tracking error convergences asymptotically to the preassigned boundary. The gain of the sliding control input is adjusted using adaptive algorithms to estimate the linear bound of the friction. The global stability of the closed loop control system is established via Lyapunov's stability theorem. Finally, simulation results have verified that the proposed controller can compensate the friction and external disturbances effectively. Compared with the traditional Proportional-integral-differential (PD and PID) controllers, it enhances significantly the tracking accuracy of the servo system, and has robustness to the uncertainty of the system parameters and friction characteristics.
- feed servo system /
- friction compensation /
- adaptive algorithms /
- sliding mode control /
- robustness

HTML全文

参考文献(15)

[1]	Yoon J Y, Trumper D L. Friction modeling, identification, and compensation based on friction hysteresis and Dahl resonance[J]. Mechatronics, 2014,24(6):734-741
[2]	Ozen O, Sariyildiz E, Yu H Y, et al. Practical PID controller tuning for motion control[C]//Proceedings of 2015 IEEE International Conference on Mechatronics. Nagoya, Japan:IEEE, 2015:240-245
[3]	Balaji V, Balaji M, Chandrasekaran M, et al. Optimization of PID control for high speed line tracking robots[J]. Procedia Computer Science, 2015,76:147-154
[4]	Sharma R, Gaur P, Mittal A P. Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload[J]. ISA Transactions, 2015,58:279-291
[5]	Patton R J, Putra D, Klinkhieo S. Friction compensation as a fault-tolerant control problem[J]. International Journal of Systems Science, 2010,41(8):987-1001
[6]	Liu L L, Wu Z Y. Comprehensive parameter identification of feed servo systems with friction based on responses of the worktable[J]. Mechanical Systems and Signal Processing, 2015, 64-65:257-265
[7]	Liu L L, Wu Z Y. A new identification method of the Stribeck friction model based on limit cycles[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2014,228(15):2678-2683
[8]	Liu L L, Wu Z Y, Liu H Z. Modeling and analysis of the crossfeed servo system of a heavy-duty lathe with friction[J]. Mechanics Based Design of Structures and Machines, 2013,41(1):1-20
[9]	Gao J W, Tao T, Mei X S, et al. Study on the nature of stick-slip motion for high-precision table[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2012,226(7):1751-1764
[10]	Lee S W, Kim J H. Robust adaptive stick-slip friction compensation[J]. IEEE Transactions on Industrial Electronics, 1995,42(5):474-479
[11]	Lee C W, Kim I H, Son Y I. LuGre model-based adaptive robust control of 1 DOF mechanical systems using only position measurement[C]//Proceedings of 2015 the 15th International Conference on Control, Automation and Systems. Busan, South Korea:IEEE, 2015:1036-1041
[12]	Zhang Y M, Yan P, Zhang Z. High precision tracking control of a servo gantry with dynamic friction compensation[J]. ISA Transactions, 2016,62:349-356
[13]	刘丽兰,刘宏昭,吴子英,等.低速下机床进给伺服系统稳定性研究[J].振动与冲击,2010,29(5):187-190 Liu L L, Liu H Z, Wu Z Y, et al. Research on stability of the feed servo system of machine toolswith low feed velocity[J]. Journal of Vibration and Shock, 2010,29(5):187-190(in Chinese)
[14]	Armstrong-Hélouvry B, Dupont P, De Wit C C. A survey of models, analysis tools and compensation methods for the control of machines with friction[J]. Automatica, 1994,30(7):1083-1138
[15]	Slotine J J E. Sliding controller design for non-linear systems[J]. International Journal of Control, 1984,40(2):421-434