4M龙门刨床自适应速度控制器研究 - 控制理论与应用.PDF

24 5 Vol. 24 No. 5 2007 10 Control Theory Applications Oct. 2007 2007 4M , , , , (1. , 116600; 2. , 510640) : 4M, , . . , , . : ; ; : TP273 : A A research on adaptive speed controller of a 4M gantry planning machine XU Guo-kai , YOU Lin-ru , ZHAO Xiu-chun , SONG Peng , LIU Chang-hong (1. College of Electromechanical and Information Engineering, Dalian Nationalities University, Dalian Liaoning 116600, China; 2. College of Automation Science and Engineering, South China University of Technology, Guangzhou Guangdong 510640, China) Abstract: The control system of a 4M gantry planning machine is repacked in this paper. Firstly, the standard speed- regulator in the system is replaced with an adaptive speed-controller, an adaptive speed-control system is thus formed. The proposed adaptive controller has the strong anti-disturbing ability, and doesn’t need the priori estimate about the plant. Experiment is performed to show that the proposed scheme of the adaptive speed-control system is effective and the control result of the adaptive system is better than the standard system. Key words: speed-control system; adaptive control; gantry planning machine 1 (Introduction) . 1958(MIT) (Whitaker) 3: , ; ; (MIT) , . . , Monopoli , , (MRAC). . , , MRAC, , .