论文部分内容阅读
本文提出一种对系统进行间接自适应控制的方案,通过建立一个增广系统的自适应观测器,可将系统的负载转矩作为一个状态变量进行观测,用时能得到系统转动惯量的辨识值,从而使系统在负载情况未知或变化的情况下仍能保持快速、无超调的定位特性。文中根据超稳定性理论导出自适应观测器的递推算法,并给出适合于自适应控制的切换点方程。实验结果证明了这一方案的可行性。
In this paper, a scheme of indirect adaptive control of the system is proposed. By constructing an augmented system adaptive observer, the load torque of the system can be observed as a state variable, and the identification value of the system moment of inertia can be obtained. This allows the system to maintain fast, non-overshooting positioning with unknown or changing load conditions. In this paper, the recursive algorithm of adaptive observer is derived based on the theory of hyper-stability and the switching point equations suitable for adaptive control are given. The experimental results prove the feasibility of this scheme.