超声电机参数摄动与广义预测控制.pdfVIP

Computer Engineering and Applications 计算机工程与应用 2011 ，47 （14） 17 超声电机参数摄动与广义预测控制 1 2 2 2 张建桃 ，张铁民 ，梁 莉 ，文 晟 1 2 2 2 ZHANG Jiantao ，ZHANG Tiemin ，LIANG Li ，WEN Sheng 1.华南农业大学 信息学院，广州 510642 2.华南农业大学 工程学院，广州 510642 1.College of Informatics ，South China Agricultural University ，Guangzhou 510642 ，China 2.College of Engineering ，South China Agricultural University ，Guangzhou 510642 ，China ZHANG Jiantao ，ZHANG Tiemin ，LIANG Li ，et al.Parameter perturbation and generalized predictive control of ultra- sonic motor.Computer Engineering and Applications ，2011 ，47 （14）：17-20. Abstract ：The speed of Ultrasonic Motor （USM ）has strong nonlinearity which varies with the frequency of two-phase driv- ing voltages ，so it is difficult to give an accurate dynamic mathematic model by theory and to control accurately.Based on system identification ，a nonlinear Hammerstein model of traveling-wave USM for speed control is built ，and the perturbed pa- rameters value bounds of the model is measured.Because the parameter perturbed within a large range ，two-step generalized predictive control （TSGPC ）for USM is proposed ，the main control parameters of the controller are tuned ，which provides im- portant dependencies for the speed control experiment of USM.Then the closed-loop stability theoretical analysis and speed control simulation of USM TSGPC are conducted.The theoretical analysis and simulation results show that the TSGPC can track the change of setting value excellently even though the parameter perturbed within a large range. Key words ：ultrasonic motor ；Hammerstein model ；parameter perturbation ；generalized predictive control 摘 要：针对超声电机速度与驱动频率具有很强的非线性，理论建模困难，难以实现高精确控制的问题，采用辨识的方法建立了 旋转行波超声电机的Hammerstein 模型，并测量了该模型的参数摄动；针对电机参数在大范围内摄动，提出采用两步法广义预测 控制方法，整定了广义预测控制算法的参数，并对超声电机两步法广