Affiliation:
1. School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo, China
Abstract
To improve the control precision and stability of Direct-Drive Permanent Magnet Linear Motor (DPMLM) with frictional nonlinearity and uncertain disturbances at a low speed, an adaptive robust integral sign error control algorithm based on friction compensation of dual nonlinear observer is proposed in this study. An improved LuGre friction model is established to describe the friction phenomena of the system. The dual nonlinear observer is designed to observe the internal frictional state of the model. A parameter adaptive law is designed to perform parameter estimation of structured uncertainty. Robust integral of the sign of the error (RISE) term is designed to overcome the frictional nonlinear disturbances. The friction nonlinearity and parameter uncertainty are compensated by feedforward compensation. The bounded stability of the proposed controller is proved by Lyapunov stability theory. As suggested by the experimental results, RMSE index decreased by 10.8% and the control precision was improved effectively by the proposed control algorithm at a low speed.
Funder
Innovation team project of “Qing-Chuang science and technology plan” of colleges and universities in Shandong Province
The National Natural Science Foundation of China
The Young Technology Talent Supporting Project of Shandong Province
The Technology Development Fund Project of the Centre Guides Local Government of Shandong Province
The Natural Science Foundation of Shandong Province
Subject
Mechanical Engineering,Mechanics of Materials,Aerospace Engineering,Automotive Engineering,General Materials Science