| 基于鲁棒自适应控制策略的混合型步进电机低速伺服控制性能 |
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| 作者姓名： | 陈卫东 容启亮 |
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| 作者单位： | [1]南京航空航天大学航空宇航学院,南京210016 [2]香港理工大学工业与系统工程学系,红砌,九龙,香港 |
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| 基金项目： | 香港大学教育资助委员会基金 |
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| 摘 要： | 针对混合型步进电机低速运行状态下脉动转矩较大的特点,应用鲁棒自适应控制策略来设计其低速伺服控制器,以实现高精度的跟踪控制性能.首先,根据混合型步进电机转矩形成的机理,揭示了其固有的脉动转矩对低速运动控制产生不利影响的动力学特征,并将它归结为两种结构不确定性,便于控制器的设计;其次,采取标准的自适应控制及其鲁棒化设计思想,借助于μ-修整策略来实现相应的控制律,确保脉动转矩的最大化补偿及伺服系统低速跟踪控制满足高性能的要求;最后对所建立的低速跟踪控制系统的性能进行了试验评估,并与作者前期的工作进行了比较,试验结果验证了其有效性与可行性.
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| 关 键 词： | 鲁棒自适应控制 跟踪控制 混合型步进电机 脉动转矩 robust adaptive control tracking control stepping motor torque ripple 鲁棒自适应 控制策略 混合型 步进电机 伺服 控制性能 DRIVE SERVO HYBRID STEPPING MOTOR PERFORMANCE TRACKING PROFILE IMPROVING ADAPTIVE CONTROL SCHEME Results Experiments typical test accuracy trajectory |
| 收稿时间： | 2006/10/19 0:00:00 |
| 修稿时间： | 2006/12/10 0:00:00 |
ROBUST ADAPTIVE CONTROL SCHEME FOR IMPROVING LOW-SPEED PROFILE TRACKING PERFORMANCE OF HYBRID STEPPING MOTOR SERVO DRIVE |
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| Authors: | Chen Weidong Yung K L |
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| Institution: | (1Institute of Animal Science, Chinese Academy of Agricultural Science, Beijing 100094;
2College of Veterinary Medicine, Gansu Agricultural University, Lanzhou 730070;
3Animal Science & Technology College, Sichuan Agricultural University, Yaan Sichuan 625 |
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| Abstract: | In silico cloning was a new strategy of gene cloning developed with the development of genome,EST projects and bio-informatics.Using one differentially expressed EST in peripheral blood leukocytes of Holstein cows with mastitis as a querying probe,a novel cDNA sequence was obtained from bovine EST database of GenBank,which was named bovine zinc finger protein 313(Znf313) gene.The sequence of in silico cloning was verified by RT-PCR,and inserted into pGEM-T vector for sequencing.The bovine Znf313 gene cDNA contains a 693bp open reading frame,encoding 230aa protein,putative protein molecular weight is 25.67kD,isoelectric point is 6.90.The sequence has been submitted to GenBank with the accession number DQ010409. |
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| Keywords: | robust adaptive control tracking control stepping motor torque ripple |
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