Department of Automation, Nankai University, Nankai District, Tianjin 300071, China.
Department of Electrical and Mining Engineering, University of South Africa, Florida 1710, South Africa.
ISA Trans. 2014 Mar;53(2):671-8. doi: 10.1016/j.isatra.2013.11.011. Epub 2013 Dec 14.
Friction is often ignored when designing a controller for the ball and plate system, which can lead to steady-error and stick-slip phenomena, especially for the small amplitude command. It is difficult to achieve high-precision control performance for the ball and plate system because of its friction. A novel reference compensation strategy is presented to attenuate the aftereffects caused by the friction. To realize this strategy, a linear control law is proposed based on a reduced-order observer. Neither the accurate friction model nor the estimation of specific characteristic parameters is needed in this design. Moreover, the describing function method illustrates that the limit cycle can be avoided. Finally, the comparative mathematical simulations and the practical experiments are used to validate the effectiveness of the proposed method.
在设计球盘系统的控制器时，通常会忽略摩擦力，这可能导致稳态误差和粘滑现象，尤其是在小幅度命令的情况下。由于摩擦力的存在，球盘系统很难实现高精度的控制性能。为了消除摩擦力的后效影响，提出了一种新的参考补偿策略。为了实现这一策略，提出了一种基于降阶观测器的线性控制律。在设计中既不需要精确的摩擦模型，也不需要估计特定的特征参数。此外，描述函数法表明可以避免极限环。最后，通过比较数学模拟和实际实验验证了所提出方法的有效性。
