Zhang Yangming, Yan Peng, Zhang Zhen
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; Key Laboratory of High-efficiency and Clean Mechanical Manufacture, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan 250061, China.
ISA Trans. 2016 May;62:349-56. doi: 10.1016/j.isatra.2016.02.006. Epub 2016 Feb 28.
This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches.
本文关注音圈电机（VCM）驱动的伺服龙门系统的跟踪控制问题。通过将自适应控制技术与滑模方法相结合，在存在摩擦力和外部干扰的情况下，提出了一种具有摩擦补偿方案的自适应滑模控制（ASMC）律。基于LuGre动态摩擦模型，采用双观测器结构来估计不可测量的摩擦状态，并合成自适应控制律以有效处理未知的摩擦模型参数以及干扰的界限。此外，所提出的控制律也应用于VCM伺服龙门系统进行运动跟踪。仿真和实验结果表明了良好的跟踪性能，优于传统控制方法。
