Wang Shubo, Li Siqi, Chen Qiang, Ren Xuemi, Yu Haisheng
School of Automation, Qingdao University, and Shanodng Key Laboratory of Industrial Control Technology, Qingdao, 266071, China.
Automation, Beijing Institute of Technology, Beijing 100081, China.
ISA Trans. 2022 Sep;128(Pt B):328-335. doi: 10.1016/j.isatra.2021.08.047. Epub 2021 Dec 13.
In this paper, a novel robust tracking control strategy based on funnel control is proposed for servo drive systems with unknown disturbances. A modified funnel variable is defined and incorporated into the control design to guarantee the tracking error within a prescribed boundary. To reject the bounded disturbances, a robust integral of the sign of the error (RISE) controller based on the funnel variable is proposed for servo drive systems. Moreover, the desired compensation technique is incorporated into the developed controller to reduce the sensor noise. The proposed robust controller theoretically guarantees asymptotic tracking control performance with external disturbances. The closed-loop system convergence is analyzed via the Lyapunov stability theory. Comparative numerical and experimental results of the servo drive system are provided.
本文针对存在未知干扰的伺服驱动系统，提出了一种基于漏斗控制的新型鲁棒跟踪控制策略。定义了一种改进的漏斗变量并将其纳入控制设计中，以确保跟踪误差在规定边界内。为了抑制有界干扰，针对伺服驱动系统提出了一种基于漏斗变量的误差符号鲁棒积分（RISE）控制器。此外，将期望补偿技术纳入所开发的控制器中以降低传感器噪声。所提出的鲁棒控制器在理论上保证了存在外部干扰时的渐近跟踪控制性能。通过李雅普诺夫稳定性理论分析了闭环系统的收敛性。给出了伺服驱动系统的对比数值和实验结果。
