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直线超声波电机伺服系统建模及鲁棒控制

DOI: 10.11830/ISSN.1000-5013.2010.01.0016

Keywords: 超声波电机, 干扰观测器, 系统辨识, 线性模型, 鲁棒控制

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Abstract:

为解决超声波电机精确建模的问题,将二阶传递函数作为名义模型,通过频域辨识建立超声波伺服系统的线性模型.引入干扰观测器,以抑制各种外部力扰动,并增强伺服系统对参数变化的鲁棒性.以直线超声波电机为例进行仿真和实验,结果表明,控制方法对外部力扰动和参数变化均具有很强的鲁棒性,可以提高超声波电机的运动控制精度.

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