关键词: 直流电机, 动态面滤波法, 自适应鲁棒, 摩擦补偿

Abstract: Aiming at wide variations in moment of friction torque and input constraints of DC servo systems, an adaptive robust control based on dynamic filtering method was presented.A nonlinear observer was constructed to estimate the friction torque.A robust controller was designed to overcome the disturbance caused by parametric uncertainty and model uncertainty.To compensate for the input constraints,a stable linear auxiliary system was developed and introduced into the adaptive robust control.The system stability was proved by Lyapunov analysis.The simulation and experiment results show that the proposed approach can improve control accuracy.It provides a theoretical reference for the analysis and design of high performance control of this kind of servo system.

Key words: DC motor, dynamic surface filtering method, adaptive robust, friction compensation