科研之友
微信
新浪微博
Facebook
分享链接
摘要
Due to the influence of friction items, a permanent magnent spherical motor (PMSM) control system may appear quality deterioration. To overcome the problem, a friction compensation adaptive control scheme based on fuzzy approximation was proposed. Firstly, the dynamic model of the rotor including friction items expressed with Carden angle rotation was set up. Secondly, the control scheme based on known model and nominal model were individually designed. In order to reduce the number of fuzzy rules, an improved adaptive controller with fuzzy compensation was used to eliminate the second controller's friction and system uncertainties. The parameters of control law were adaptively tuned based on Lynapunov stability theory. The proposed scheme can guarantee the stabilization of the closed-loop system. Simulation results demonstrate that the proposed scheme can realize friction and uncertainty signals'compensation effectively, hence the tracking control performance of the spherical motor is improved.
