中文摘要：

针对摩擦可能引起永磁球形电机控制系统品质恶化的问题,提出模糊逼近的摩擦补偿自适应控制方案。首先,通过卡尔丹角（Carden）旋转,建立考虑摩擦项的转子动力学模型,分别基于已知模型和名义模型设计控制方案。基于名义模型的控制方案采用改进的模糊补偿自适应控制器分别补偿摩擦项以及系统不确定性因素,以减少模糊规则的数目,控制律参数基于李亚普诺夫稳定性理论自适应调节,控制方案保证了闭环系统的稳定性。仿真试验结果表明,该控制方案能有效实现对摩擦项等不确定信号的补偿,从而提高球形电机的跟踪控制性能。

英文摘要：

Due to the influence of friction items,a permanent magnent spherical motor（PMSM） control system may appear quality deterioration.To overcome the problem,a friction compensation adaptive control scheme based on fuzzy approximation was proposed.Firstly,the dynamic model of the rotor including friction items expressed with Carden angle rotation was set up.Secondly,the control scheme based on known model and nominal model were individually designed.In order to reduce the number of fuzzy rules,an improved adaptive controller with fuzzy compensation was used to eliminate the second controller＇s friction and system uncertainties.The parameters of control law were adaptively tuned based on Lynapunov stability theory.The proposed scheme can guarantee the stabilization of the closed-loop system.Simulation results demonstrate that the proposed scheme can realize friction and uncertainty signals＇ compensation effectively,hence the tracking control performance of the spherical motor is improved.