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2004-06-15237200671006-9348200607-0275-05100083TP273ANonlinearFrictionDecompositionControlofFlightMotionSimulatorWANGOing-weiLIUZheng-huaERLian-jieSchooiofAutomationScience&EiectronicEngineeringBeijingUniversityofAeronauticsandAstronauticsBeijing100083ChinaABSTRACTInordertosoivethenoniinearfrictionoffiightmotionsimuiatoranoniinearfrictionmodeiisanaiyzedandiinearized.Theiineardynamicstatevariabiefrictionmodeiisdeduced.Secondiyadecompositioncontroischemeisproposed.Differentfrictioncompensationmethodsaredesignedaimedatdifferenttypesoffriction.Thewhoiecontroiiawisthusconciudedofwhichanominaicontroitermcompensatesforthenominaimodeianadaptivecompensatorcompensatesforparametricfrictionandarobustcompensatorcompensatesfornon-parametricfriction.Lastiyanaiysisandsimuiationhaveconfirmedthefrictiondecompositioncontroischemeiseffectiveandcredibie.KEYWORDSFrictionmodeiDecompositioncontroiAdaptivecontroiRobustcontroi1123Stribeck456567569PIDStribeck572!!.#U=!+B~!+Tf!~!lUBTf!~!Tf!~!=Tc+Tse-~!2sign~!+T!!~!2~!t!tTcTsStribeckT!!~!sign~!=l~!00~!=0-l~!{03StribeckBTcTs^B^Tc^Ts^T!!~!I#4#!~!!.!2StribeckTse-~!2StribeckTs^Ts^StribeckTse-~!2Tse-~!2^Ts+~Tse-^~!2-e-^~!2~!2~^Tse-^~!2+~Tse-^~!2-^Tse-^~!2~!2~552Tf!~!=Tc+^Tse-^~!2+~Tse-^~!2-^Tse-^~!2~!2~sign~!+T!!~!6l6U=!+^B~!+^Tc+^Tse-^~!2sign~!-Y~!~T+T!!~!7Y~!=~!sign~!e-^~!2-^Ts~!2e-^~!2sign~!8~T=^B-B^Fc-Fc^Fs-Fs^-9~TT!!~!B=l.5Nms/radTc=3.5NmTs=5.0Nm=l00s2/rad2l#^B=l.2Nms/rad^Tc=3.0Nm^Ts=4.5Nm^=80s2/rad220%l$~T5692!inte=!in-!~e=~!in-~!l0569r=~e+$ell$!intU0672!u0=d-2/'e-/2e+^B'+^Tc+^Tse-^O'2sign'12u=u0+Y'ua+ur13ua~Tua=-IJt0Y'Trdu14urT'ur=-prIrIIrIB-prIR{I15137'r+/r=Y'~T+ua+ur-T'16u=+^B'+^Tc+^Tse-^O'2sign'-Y'~T+T'IT'Ip~T=^B-B^Fc-Fc^Fs-Fs^O-O1215LyapunovV=12r2+12I1T1171=1I~T-JY'Trdu18I~T'1=-Y'Tr1917'V=r'r+I1T'120161920'V=r-/r+Y'~T+ua-T'+ur-I1TY'Tr=-/r2+rY'~T+ua+rur-T'-IY'1r=-/r2+rY'~T-IJt0Y'Trdu+ur-T'-rY'~T-IJt0Y'Trdu=-/r2+rur-T'211521IrIB'V=-/r2+r-prIrI-T'=-/r2-pIrI-T'r=-/r2-IrIp-T'rIrI-/r2022IrI'V=-/r2+r-pr-T'=-/r2-pr2-T'rS-/r2-pr2+pIrI23IrI=2-pr2+pIrIp4'VS-/r2+p424IrI12p/!LyapunovS=rGR1Ir2Sp2/{}25SOS'VS-p426TOSVrT-Vr0S-p4T27TS4VrT-Vr0p28r8re'e#3772!!+20~!=800u-Tf!~!29!in=sintT!!~!=0.5sin3!=0.5=100#=100$=0.145#$$1.J.2003294628-631.2CanudasdeWitCHOIssonKJAstromPLischinsky.AnewmodeIforcontroIofsystemswithfrictionJ.IEEETransAutomatControI1995403419-25.3MFeemsterPVedagarbhaDMDawsonDHaste.AdaptivecontroItechniguesforfrictioncompensationJ.MechatronicsSeptember1999.125-45.4AJaritzMSpong.AnexperimentaIcomparisonofrobustcontroIaIgorithmsonadirectdrivemanipuIatorJ.IEEETransControISystTechnoI199646627-40.5GLiuAAGoIdenberg.RobustcontroIofrobotmanipuIatorsbasedondynamicsdecompositionJ.IEEETransRoboticsAuto-872mation1997135783-9.6GLiuAAGoidenberg.ComparativestudyofrobustsaturationcontroiofrobotmanipuiatorsanaiysisandexperimentsJ.IntJRoboticsRes1996155473-91.7MRPopovicAAGoidenbergKBshimogaRC~ui.Modei-basedcompensationoffrictionindirect-driveroboticarmsJ.studInformaticsControi19943175-86.8PVedagarbhaDMDawsonMFeemster.Trackingcontroiofme-chanicaisystemsinthepresenceofnoniineardynamicfrictioneffectsJ.IEEETransControisystTechnoi199974446-56.9GLiu.Decomposition-basedfrictioncompensationofmechanicaisystemsJ.Mechatronics200212755-7691977-1975-1938-!#1ORBORBruntimeEAserverURLORBruntime2CORBACosNaming3JavaAppiication//CORBAORBJaguarstubjava.utii.Propertiesprops=newjava.utii.Properties//java.utii.Propertiesprops.putorg.omg.CORBA.ORBCiasscom.sybase.CORBA.ORBprops.putcom.sybase.CORBA.NameserviceURLiiop//huang9000/ORBorb=ORB.initargsprops//ORBNamingContextnc=nuiiorg.omg.CORBA.Objectobj1=nuiiobj1=orb.resoiveinitiaireferencesNameservice//nc=NamingContext~eiper.narrowobj1NameComponentcompNc1=newNameComponentcompName1//stubobj1=nc.resoivecompNc1//FactorycompFactory1=Factory~eiper.narrowobj1//factoryobj1=compFactory1.createGuestGuestPasswordcomp1=csiserver1.njfjsmain~eiper.narrowobj1#$CORBAJavaC/sB/sEAserverCORBAJava1.J.199569.2.XMLCORBAJ.200228188-90.3.D.2001.4.J.2001333.5.PowerBuiider8.0M.2002.6.sybaseJaguarM.2000.7.CORBAM.2001.8WendyBoggs.UMLRationaiRose2002M.2002.1979-1960-972基于分解控制的转台非线性摩擦补偿控制作者:王青伟,刘正华,尔联洁,WANGQing-wei,LIUZheng-hua,ERLian-jie作者单位:北京航空航天大学自动化科学与电气工程学院,北京,100083刊名:计算机仿真英文刊名:COMPUTERSIMULATION年,卷(期):2006,23(7)被引用次数:3次参考文献(9条)1.AJaritz;MSpongAnexperimentalcomparisonofrobustcontrolalgorithmsonadirectdrivemanipulator[外文期刊]1996(06)2.MFeemster;PVedagarbha;DMDawson;DHasteAdaptivecontroltechniquesforfrictioncompensation[外文期刊]19993.CanudasdeWitC;HOlsson;KJAstrom;PLischinskyAnewmodelforcontrolofsystemswithfriction[外文期刊]1995(03)4.GLiuDecomposition-basedfrictioncompensationofmechanicalsystems[外文期刊]2002(12)5.PVedagarbha;DMDawson;MFeemsterTrackingcontrolofmechanicalsystemsinthepresenceofnonlineardynamicfrictioneffects[外文期刊]1999(04)6.MRPopovic;AAGoldenberg;KBShimoga;RCHuiModel-basedcompensationoffrictionindirect-driveroboticarms1994(01)7.GLiu;AAGoldenbergComparativestudyofrobustsaturationcontrolofrobotmanipulators:analysisandexperiments[外文期刊]1996(05)8.GLiu;AAGoldenbergRobustcontrolofrobotmanipulatorsbasedo
本文标题:基于分解控制的转台非线性摩擦补偿控制
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