Research On Design And Application Of Adaptive Robust Control For Improving Low-speed Performance Of Servo System

With the rapid development of science and technology, the high performance indices of servo system are required more and more. The low-speed tracking performance is a important index of servo system's indices, so how to improve low-speed tracking performance has important practical significance.Taking the background of high precision linear-servo position systems and turntable system, the thesis focused on improving servo-system low-speed tracking performance. Furthermore the factors affecting low-speed tracking performance of high precision linear-servo position systems and turntable system are analyzed, and developed the model of both systems based friction. At last, the adaptive robust controller was designed and the performance of adaptive robust control was verified by experiments. The main content of the paper is as follows.1. The current main research fields of servo system were introduced, which focused on the content of improving low-speed tracking performance, and described current main research of friction compensation.2. The configuration of servo system was introduced, and analyzed the most important factors affecting low-speed tracking performance. At last, the model of controlled plant was developed based on friction.3. The adaptive robust control was introduced, and also the controller design method of controller plant which considering parameter uncertainties and non-parameter uncertainties.4. The adaptive robust controllers of high precision linear-servo position systems and turntable system was designed respectively and comparative experiments between adaptive robust and PID were obtained. Experimental results showed that adaptive robust control can improving low-speed performance effectively.