非线性摩擦的自适应模糊建模与控制补偿的研究

项目名称： 非线性摩擦的自适应模糊建模与控制补偿的研究

项目编号： No.50875042

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 一般工业技术

项目作者： 王永富

作者单位： 东北大学

项目金额： 33万元

中文摘要： 摩擦对实际工程系统有很大的危害性，理解摩擦现象以及寻找相应的控制补偿策略对工程系统设计具有重要的理论和实际意义。最近，自适应模糊建模与控制技术正受到人们重视并被广泛应用于航空航天、仪器仪表、机械工程等领域。自适应模糊建模与控制的基本出发点是仿人的智能以实现对复杂不确定性系统进行有效的建模与控制, 它具有从环境自学习、适应环境的能力。 本课题从智能建模与控制角度出发, 系统地研究了非线性摩擦的自适应模糊建模与控制补偿技术。本项目完成了以下研究内容：1）单输入单输出系统的基于经验知识的摩擦自适应模糊建模与控制补偿；2）单输入单输出系统的基于数据挖掘方法的摩擦自适应模糊建模与控制补偿；3）单输入单输出系统的基于混合技术的摩擦自适应模糊建模与控制补偿；4）多输入多输出系统的基于模糊观测器的摩擦自适应模糊建模与控制补偿；5）单输入单输出系统的摩擦诱发振动的主动控制研究；6）自适应模糊建模与补偿控制的控制性能改进。通过本项目的实施，我们建立了非线性摩擦的自适应模糊建模与控制补偿的理论体系，并将研究得出的理论应用于工程实际中。

中文关键词： 非线性摩擦；智能建模；控制补偿；自适应模糊系统

英文摘要： Friction is harmful to practical engineering systems. Understanding this phenomenon and developing some strategies to effectively control the friction, has theoretical and practical significances. Recently,adaptive fuzzy modeling and control techniques have been widely applied for precision instrumentation, aerospace,transportation systems and mechanical engineering. The adaptive fuzzy modeling and control techniques have attracted a great deal of attentionin control engineering community due to its universal approximation power to nonlinear maps, learning capability,domain knowledge embedability and result interpretation abilities.In this project, some practical methods are proposed to model nonlinear friction using adaptive fuzzy systems and control compensation. The following contents have been finished in this project: 1)Friction adaptive fuzzy modeling and control compensation based on expert knowledge for SISO system; 2)Friction adaptive fuzzy modeling and control compensation based on data-mining method for SISO system; 3)Friction adaptive fuzzy modeling and control compensation based on hybrid techniques for SISO system; 4)Friction adaptive fuzzy modeling and control compensation based on fuzzy observer for MIMO system; 5)Active control of friction-induced vibration for SISO system; 6)Improvement of control performance for adaptive fuzzy modeling and control compensation. This study have established an adaptive fuzzy modeling and control compensation theory for nonlinear systems with uncertain friction. As results of the research, we also have applied our developed theory for engineering practice to minimize the harm caused by nonlinear friction.

英文关键词： Nonlinear friction; Intelligent modeling; Control compensation; Adaptive fuzzy systems