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Journal of ZheJiang University (Engineering Science)  2021, Vol. 55 Issue (6): 1150-1158    DOI: 10.3785/j.issn.1008-973X.2021.06.016
    
High precision control of electromechanical system based on observer friction compensation
Xi LI(),Jian HU*(),Jian-yong YAO,Ke-peng WEI,Peng-fei WANG,Hao-chen XING
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
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Abstract  

An adaptive robust controller based on nonlinear observer friction compensation was designed aiming at the problem of obvious friction nonlinearity and other interferences in the electromechanical actuation system at low speed, which may easily lead to the decrease of system tracking accuracy and stability. The LuGre friction model was used to describe the friction phenomenon of the system for the nonlinearity of friction, and a nonlinear observer was proposed to observe the internal friction state of the model. The parameter adaptive law was designed for uncertain parameters such as system friction coefficient and rotational inertia. The friction nonlinearity and parameter uncertainty were compensated by feed-forward compensation, and robust terms were designed to overcome other disturbances in the system. Lyapunov stability theory was used to prove that the proposed controller can achieve the bounded stability of the system in the presence of disturbances. The experimental results show that the proposed controller has higher control accuracy and stronger robustness, which is an order of magnitude higher than the tracking accuracy of traditional PID controller.



Key wordselectromechanical actuation system      LuGre friction model      nonlinear observer      adaptive robust control      bounded stability     
Received: 05 July 2020      Published: 30 July 2021
CLC:  TP 273  
Fund:  国家自然科学基金资助项目(51975294);高性能复杂制造国家重点实验室开放课题基金资助项目(Kfkt2019–11);中央高校基本科研业务费专项资金资助项目(30920010009)
Corresponding Authors: Jian HU     E-mail: lixi_l@126.com;hujiannjust@163.com
Cite this article:

Xi LI,Jian HU,Jian-yong YAO,Ke-peng WEI,Peng-fei WANG,Hao-chen XING. High precision control of electromechanical system based on observer friction compensation. Journal of ZheJiang University (Engineering Science), 2021, 55(6): 1150-1158.

URL:

https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.06.016     OR     https://www.zjujournals.com/eng/Y2021/V55/I6/1150


基于观测器摩擦补偿的机电系统高精度控制

针对机电作动系统在低速阶段摩擦非线性明显且同时存在其他干扰,易导致系统跟踪精度、稳定性下降这一问题,设计基于非线性观测器摩擦补偿的自适应鲁棒控制器. 针对摩擦非线性,利用LuGre摩擦模型描述系统的摩擦现象,提出非线性观测器对模型的内部摩擦状态进行观测. 针对系统摩擦系数、转动惯量及其他不确定性参数,设计参数自适应律进行估计. 利用前馈补偿的方法,对摩擦非线性和参数不确定性进行补偿,设计鲁棒项克服系统的其他扰动. 利用Lyapunov稳定性定理证明了提出的控制器在存在扰动的情况下可以实现系统的有界稳定性. 实验结果表明,提出的控制器具有较高的控制精度与较强的鲁棒性,跟踪精度较传统的PID控制器提高了一个数量级.


关键词: 机电作动系统,  LuGre摩擦模型,  非线性观测器,  自适应鲁棒控制,  有界稳定性 
Fig.1 Controller design block diagram
Fig.2 Input of given position and tracking error of each controller
指标 Me μ σ
PID 0.0031 0.0034 0.0071
ARC 0.0025 0.0016 5.2158×10?4
NOARC 6.0003×10?4 2.4833×10?4 5.1198×10?4
Tab.1 Performance indicators under step conditions
Fig.3 Friction state observation curve and observation error curve
Fig.4 Friction force observation curve and observation error curve
Fig.5 Parameter estimation curve
Fig.6 Input of given position and tracking error of each controller
指标 M μ σ
PID 0.153 6 8.868 6×10?3 0.077 2
ARC 0.043 8 8.618 1×10?4 0.025 6
NOARC 0.010 1 1.638 5×10?4 0.006 9
Tab.2 Performance indicators under low speed and low frequency conditions
Fig.7 Friction state observation curve and observation error curve
Fig.8 Friction force observation curve and observation error curve
Fig.9 Parameter estimation curve
Fig.10 Experimental platform diagram of electromechanical servo system
Fig.11 Control system diagram of electromechanical servo experiment platform
元器件名称 规格
执行电机 kollmorgen伺服电机D063M-13-1310
旋转编码器 海德汉高安全性位置测量系统
扭矩传感器 CD1140系列扭矩传感器
联轴器 JB/ZQ4376-86 YL1型凸缘刚性联轴器
惯量盘 0.3 kg·m2
Tab.3 Component list of electromechanical servo system experimental platform
参数 参数值
电机连续电流有效值 4.187 A
电机直轴峰值电流有效值 1 A
电机峰值电流有效值 14.5 A
电机惯量 86.5 kg·cm2
电机转矩系数有效值 4.406 N·m/A
电机最大速度 500 r/min
电机最大电压有效值 240 V
电机额定感应电压有效值 230 V
Tab.4 Parameters of motor
Fig.12 Step position input and tracking error of each controller
Fig.13 Sinusoidal position input and tracking error of each controller
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