王永强,张承瑞,郎需林,张岳.伺服电动机系统模型参考自适应建模方法[J].农业机械学报,2013,44(4):275-279. Wang Yongqiang,Zhang Chengrui,Lang Xulin,Zhang Yue.Modeling Method for Servo Motor System Based on Model Reference Adaptive System[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(4):275-279.
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摘要点击次数: 4055 全文下载次数: 1954
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伺服电动机系统模型参考自适应建模方法 [下载全文] |
Modeling Method for Servo Motor System Based on Model Reference Adaptive System [Download Pdf][in English] |
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DOI:10.6041/j.issn.1000-1298.2013.04.047 |
中文关键词: 伺服电动机系统 模型参考自适应系统 Lyapunov稳定性理论 建模方法 |
基金项目:国家重点基础研究发展计划(973计划)资助项目(2009CB724406) |
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中文摘要:提出了一种基于模型参考自适应系统的建模方法,以动态特性优良的低阶系统为参考模型,以伺服电动机系统为被控对象,基于Lyapunov稳定性理论建立模型参考自适应系统,通过试验使可调系统和参考模型达到精确匹配,然后推导了伺服电动机系统的低阶模型。结合实例,利用该方法得出了伺服电动机系统的二阶模型,对该模型和伺服电动机系统在20 s内连续输入50000个脉冲信号时,两者输出相差在±0.00063 rad以内,证明了所获得的模型具有较高的精确度。 |
Wang Yongqiang Zhang Chengrui Lang Xulin Zhang Yue |
Shandong University;Shandong University;Shandong University;Shandong University |
Key Words:Servo motor systems Model reference adaptive system Lyapunov stability theory Modeling method |
Abstract:A modeling method was proposed based on model reference adaptive system (MRAS). According to Lyapunov stability theory, a MRAS was established, with a low-order model which has excellent dynamic characteristics, serve as reference model, and the servo motor system as controlled plant. The low-order model of the servo motor system can be conducted when the adjustable system and reference model achieved an exact match through experiment. Using the proposed method, the second-order model of the servo motor system was derived from the experimental results of case study. The model was proved to have a high accuracy through simulation and experiment. The difference between the two models output within ±0.00063 rad when 50000 pulse signals were input continuously within 20 s. |
Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.
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