| 引用本文: | 曾子强,曹荣敏,侯忠生,周惠兴.二维直线电机的多入多出无模型自适应轮廓控制[J].控制理论与应用,2020,37(5):1007~1017.[点击复制] |
| ZENG Zi-qiang,CAO Rong-min,HOU Zhong-sheng,ZHOU Hui-xing.Multiple input multiple output model free adaptive contour control for two-dimensional linear motor[J].Control Theory and Technology,2020,37(5):1007~1017.[点击复制] |
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| 二维直线电机的多入多出无模型自适应轮廓控制 |
| Multiple input multiple output model free adaptive contour control for two-dimensional linear motor |
| 摘要点击 1628 全文点击 595 投稿时间：2019-01-01 修订日期：2019-09-20 |
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| DOI编号 10.7641/CTA.2019.90001 |
| 2020,37(5):1007-1017 |
| 中文关键词 直线电机 多入多出系统 无模型自适应控制 交叉耦合 轮廓误差 非线性系统 |
| 英文关键词 linear motor MIMO system model-free adaptive control cross coupling contour error non-linear system |
| 基金项目 国家自然科学基金项目(61833001, 61433002), 北京市自然科学基金项目(4142017), 2018年促进高校内涵发展“信息+”项目(5111823311)资助. |
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| 中文摘要 |
| 针对传统的单入单出控制器无法解决二维直线电机存在的非线性, 不确定性以及强耦合作用等问题, 依据
无模型自适应控制不依赖于被控系统精确数学模型, 仅需受控系统输入输出数据便能实现自适应控制这一特点, 采
用多入多出的紧格式动态线性化无模型自适应控制算法对二维直线电机XY 轴进行整体控制器设计. 同时, 针对二
维直线电机这种含有纯二阶积分环节的非自平衡系统, 提出了多入多出无模型自适应控制改良方法, 并进行严格的
稳定性和收敛性证明. 为了提高二维直线电机的轮廓精度, 在多入多出无模型自适应控制改良方法的基础上, 加入
交叉耦合控制器, 与传统的交叉耦合控制方法相比较, 提高了跟踪精度和轮廓精度. 最后通过仿真和实物实验证明
了所提方案的有效性. |
| 英文摘要 |
| The traditional SISO controller can’t solve the problems of non-linearity, uncertainty and strong coupling of
two-dimensional linear motor, according to the fact that the model-free adaptive control does not depend on the precise
mathematical model of the controlled system, it can realize the adaptive control only by the input and output data of the
controlled system. A compact form dynamic linearization model-free adaptive control algorithm (CFDL–MFAC) with
multiple input and multiple output (MIMO) is used to design the overall controller for the XY axis of a two-dimensional
linear motor. At the same time, an improved multi-input multi-output model-free adaptive control method is proposed for
a two-dimensional linear motor, which is a non-self-balancing system with a pure second-order integral unit, the stability
and convergence are strictly proved. In order to improve the contour accuracy of two-dimensional linear motor, a crosscoupling
controller is added based on the improved multi-input multi-output model-free adaptive control method. Compared
with the traditional cross-coupling control method, the tracking accuracy and contour accuracy are improved. Finally, the
effectiveness of the proposed scheme is proved by simulation and practical experiments |
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