[1]王中华,王兴松,徐卫良.X-Y定位平台的鲁棒自适应摩擦补偿[J].东南大学学报(自然科学版),2002,32(1):69-72.[doi:10.3969/j.issn.1001-0505.2002.01.016]
 Wang Zhonghua,Wang Xingsong,Xu Weiliang.Robust adaptive friction compensation for X-Y positioning table[J].Journal of Southeast University (Natural Science Edition),2002,32(1):69-72.[doi:10.3969/j.issn.1001-0505.2002.01.016]
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X-Y定位平台的鲁棒自适应摩擦补偿()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
32
期数:
2002年第1期
页码:
69-72
栏目:
自动化
出版日期:
2002-01-20

文章信息/Info

Title:
Robust adaptive friction compensation for X-Y positioning table
作者:
王中华 王兴松 徐卫良
东南大学机械工程系, 南京 210096
Author(s):
Wang Zhonghua Wang Xingsong Xu Weiliang
Department of Mechanical Engineering, Southeast University, Nanjing 210096, China
关键词:
X-Y定位平台 鲁棒自适应控制 摩擦补偿 跟踪控制
Keywords:
X-Y positioning table robust adaptive control friction compensation tracking control
分类号:
TP27
DOI:
10.3969/j.issn.1001-0505.2002.01.016
摘要:
本文首先描述了X-Y平台实验系统及其模型建立,接着,针对X-Y定位平台中存在的载荷及摩擦参数的不确定性问题,提出了一种鲁棒自适应运动控制方案,所设计的控制器将滑模控制和自适应控制有机地结合在一起.应用Lyapunov稳定理论证明了控制器的稳定性及跟踪误差的收敛性.仿真和实验结果表明此方案能够在线辨识摩擦参数,具有较高的控制精度.这种方案可用于工业设备的控制中.
Abstract:
The X-Y table experiment system and its modeling are described firstly, following it, a robust adaptive motion control approach is proposed to deal with the uncertainty of load and friction parameters existed in the X-Y positioning table. The designed controller is performed by the sliding-mode control combined with adaptive control organically. The global stability of the controller and the global convergence of tracking error are proven using Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the robustness, high accuracy and ability to identify friction parameters on-line of this controller. The proposed approach can be applied in industries.

参考文献/References:

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[7] Tan K K,Lee T H,Huang S N,et al.Friction modeling and adaptive compensation using a relay feedback approach [J].IEEE Transactions on Industrial Electronics,2001, 48(1):169-176.
[8] Sanner R M,Slotine J-J E.Gaussian networks for direct adaptive control [J]. IEEE Transactions on Neural Networks, 1992,3(6):837-863.
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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金资助项目(59885002)及高校博士学科点专项科研基金资助项目(98028625).
作者简介: 王中华(1967—), 男, 博士生; 王兴松(联系人), 男, 博士, 副教授, xswang@seu.edu.cn.
更新日期/Last Update: 2002-01-20