[1]唐苹,刘强.直线超声波电机伺服系统建模及鲁棒控制[J].华侨大学学报(自然科学版),2010,31(1):16-19.[doi:10.11830/ISSN.1000-5013.2010.01.0016]
　TANG Ping,LIU Qiang.Study of Modeling and Robust Control of Linear Ultrasonic Motor Servo System[J].Journal of Huaqiao University(Natural Science),2010,31(1):16-19.[doi:10.11830/ISSN.1000-5013.2010.01.0016]
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直线超声波电机伺服系统建模及鲁棒控制()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第31卷
期数:
2010年第1期
页码:
16-19
栏目:
出版日期:
2010-01-20

文章信息/Info

Title:
Study of Modeling and Robust Control of Linear Ultrasonic Motor Servo System
文章编号:
1000-5013(2010)01-0016-04
作者:
唐苹; 刘强
华侨大学机电及自动化学院
Author(s):
TANG Ping;  LIU Qiang
College of Mechanical Engineering and Automation, Huaqiao University, Quanzhou 362021, China
关键词:
超声波电机;  干扰观测器;  系统辨识;  线性模型;  鲁棒控制
Keywords:
ultrasonic motor;  disturbance observer;  system identification;  linear modeling;  robust control
分类号:
TM359.9
DOI:
10.11830/ISSN.1000-5013.2010.01.0016
文献标志码:
A
摘要:
为解决超声波电机精确建模的问题,将二阶传递函数作为名义模型,通过频域辨识建立超声波伺服系统的线性模型.引入干扰观测器,以抑制各种外部力扰动,并增强伺服系统对参数变化的鲁棒性.以直线超声波电机为例进行仿真和实验,结果表明,控制方法对外部力扰动和参数变化均具有很强的鲁棒性,可以提高超声波电机的运动控制精度.
Abstract:
To solve the problem of precise modeling of ultrasonic motor(USM),the linear model of its servo system is built using frequency domain identification method and regarding the second-order transfer function as the nominal model.Disturbance observer is introduced in the controller design to decrease all kinds of external force disturbance,and improve the robustness to parameter uncertainties.Computer simulation and experiment were developed for USM,and the results show that the proposed control method has strong robustness to parameter variation and external disturbance,and can improve the motion control accuracy.

参考文献/References:

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[2] OHNISHI K. A new servo method in mechatronics [J]. Trans Jpn Soc Elect Eng, 1987(4):83-86.
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[4] SU Wei-te, LIAW Chang-ming. Adaptive positioning control for a LPMSM drive based on adapted inverse model and robust disturbance observer [J]. IEEE Transactions on Mechatronics, 2006(2):505-517.doi:10.1109/TPEL.2005.869729.
[5] WHITE M T. Improved track following in magnetic disk drives using a disturbance observer [J]. IEEE Transactions on Mechatronics, 2000(1):3-11.doi:10.1109/3516.828584.
[6] KATSURA S, MATSUMOTO Y, OHNISHI K. Modeling of force sensing and validation of disturbance observer for force control [J]. IEEE Transactions on Industrial Electronics, 2007(1):530-538.doi:10.1109/TIE.2006.885459.
[7] TESFAYE A. A sensitivity optimization approach to design of a disturbance observer in digital motion control systems [J]. IEEE Transactions on Mechatronics, 2000(1):32-38.doi:10.1109/3516.828587.
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备注/Memo

备注/Memo:
福建省自然科学基金资助项目(E0510023); 福建省高校新世纪优秀人才计划项目(E0510023)
更新日期/Last Update: 2014-03-23