摘要随着科技的发展，伺服系统得到了广泛应用，对于伺服系统性能的要求也越来越高。但在以齿轮传动的伺服系统中，齿隙总是存在的。而齿隙由于其非线性等性质，成为了影响系统的稳定性以及动态性能与稳态精度的重要因素之一。25595
    本文首先介绍了齿隙问题的研究背景及研究现状，并分析了三种常用齿隙模型；其次在死区模型的基础上建立了含齿隙与不含齿隙的伺服系统模型，并使用MATLAB/Simulink分析了齿隙非线性对整个伺服系统的影响。针对死区模型不可微的特性，建立了可微的近似死区模型。然后使用经典控制算法PID控制对含齿隙系统进行仿真。针对PID仿真中遇到的问题，引入了反步积分自适应控制算法（BIA）。最后为了验证该算法的优越性，又将它的仿真结果与PID控制仿真结果进行了对比。
关键词  伺服系统  齿隙  PID控制  反步积分自适应控制
毕业论文设计说明书外文摘要
Title The Research On Control Algorithm of Servo Systems with Backlash              
Abstract
Today,servo systems have been widely used in various applications.With the development of technology,there is an increasing demand for high servo systems performance.But,backlash is always present in the gear drive’s servo systems.
Backlash has become an important factor in influcing the system’s stability、  dynamic performance and steady-state accuracy.
  The background and current situation of the backlash research is firstly described in this paper .Then we introduced three common models, and established containing backlash and backlash-free servo system model to analyze the impact of backlash nonlinearity on the servo system by using MATLAB. Then a differentiable approximation model is established to replace the dead zone model.Finally, we use PID control witch is an classic backlash control algorithm to simulate the servo system with backlash. To solve the problems encountered in PID simulation, integral backstepping adaptive control algorithm (BIA) is introduced. Finally, its simulation results are compared with PID control’s simulation results to verify the superiority of the algorithm.
Keywords  servo systems  backlash  PID control  backstepping integral adaptive control
 目   次
1  绪论    1
1.1  课题研究背景及意义    1
1.2  伺服系统齿隙问题研究现状    1
1.3  本文所做工作    2
2  齿隙研究    4
2.1  齿隙分析    4
2.2  齿隙模型    4
2.3  含齿隙伺服系统建模    7
2.4  齿隙非线性影响分析    9
2.5  本章小结    11
3  近似死区模型    12
3.1  近似死区函数    12
3.2  齿隙的近似死区模型    13
3.3  本章小结    14
4  PID控制    15
4.1  PID控制原理    15
4.2  PID参数设定    16
4.3  PID控制系统建模    17
4.4  本章小结    18
5  反步积分自适应控制算法    19
5.1  反步积分自适应控制理论    19
5.2  齿隙的反步积分自适应控制器    21
5.3  本章小结    29
6  BIA与PID控制系统仿真结果分析    30
6.1  仿真参数设定    30
6.2  仿真结果及其分析    30 含齿隙的伺服系统控制算法研究:http://www.751com.cn/zidonghua/lunwen_19451.html