抄録
It is well-known that the angle dependent disturbance in a servo motor caused by nonuniformity of field windings, armature cogging, rotor imbalance, nonuniform load etc., may influence the speed control performance greatly. This often leads to large speed fluctuations which are undesired in practical situations. Therefore speed fluctuation reduction techniques in the presence of angle dependent disturbance are strongly required and have been being challenged by a lot of researchers. In this paper, the authors propose a new approach to this problem via adative control with the aid of a radial basis function (RBF) network composed of gaussian basis functions. The angle dependent disturbance which are viewed as a periodical nonlinear function with a period of 2π[rad] in the angle domain, is approximated by a RBF network in [0, 2π) [rad]. Then an adaptive linearization control system employing the RBF network which compensates the disturbance is proposed. The RBF network has the advantage that it is linear-in-parameter and hence the parameter adaption is very fast and easy to implement. It is proved through theoritical analysis that the stability of the adaptive control is guaranteed by the Lyapunov stability theory. Finally, simulation and experimental results are included in the paper to show the excellent performance of the proposed method.
