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Low speed friction servo system sliding-mode variable structure control method based on grey prediction device

A sliding mode variable structure, servo system technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of weakening the high-frequency chattering of the control signal, and achieve the effect of simplifying the low-speed friction servo system

Inactive Publication Date: 2009-02-18
SHANGHAI UNIV
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Problems solved by technology

②The approach rate method, by adjusting the parameters of the approach rate, can not only ensure the dynamic quality of the sliding mode arrival process, but also weaken the high-frequency chattering of the control signal, but a larger parameter value will cause chattering

Method used

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  • Low speed friction servo system sliding-mode variable structure control method based on grey prediction device
  • Low speed friction servo system sliding-mode variable structure control method based on grey prediction device
  • Low speed friction servo system sliding-mode variable structure control method based on grey prediction device

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Embodiment Construction

[0104] A preferred embodiment of the present invention is described as follows in conjunction with accompanying drawing: See image 3 and Figure 4, this sliding mode variable structure control method for low-speed friction servo system based on gray estimator is to use gray control theory to roughly estimate the uncertain part of the servo system and the parameters of the external unknown disturbance model after the servo system is started, and then The determination part and the external disturbance are given a certain compensation, and the gray prediction compensation part and the sliding mode variable structure control part participate in the control of the servo system, which specifically includes two stages: the first stage, using the sliding mode variable structure with exponential approach rate Control the servo system, and at the same time, use the gray control theory to estimate the uncertain part of the servo system and the parameters of the external unknown disturba...

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Abstract

The invention relates to a sliding mode variable structure control method for a low-speed friction servo system which is based on a gray predictor. The method comprises two stages: the first stage, the sliding mode variable structure control method of the exponential approach rate is adopted to control the servo system, simultaneously, the gray control theory is utilized to estimate the uncertain part of the servo system and the outside unknown interference model parameter; the second stage, after former steps, based on the control law at the first stage, the gray predicting compensation control quantity can be calculated according to the estimate parameter, and can take part in controlling the servo system along with the control quantity of the fist stage. The control method can guarantee the low-speed friction servo system to also obtain better robust even though the effects of the uncertain part and the outside unknown interference model parameter are considered, so as to reach high precision tracing effect. The control method has the simple and pellucid program, provides a new control strategy for systems which have nonlinear and uncertain control objects as well as outside unknown interference, thereby having certain practical engineering value.

Description

technical field [0001] The invention relates to a control method of a low-speed friction servo system. Specifically, a sliding mode variable structure control method based on a gray predictor is applied to a low-speed friction servo system considering the uncertain part and the influence of external unknown disturbances. This control method is simple and easy to program, and is nonlinear and uncertain The system of the controlled object and the unknown external interference provides a new control strategy, which has certain engineering practical value. Background technique [0002] Complex servo systems are nonlinear and uncertain, and there are many factors that are not conducive to the improvement of system performance, especially friction exists in all motions, especially the impact on high-performance servo systems is more prominent. For the servo system, friction is an important factor affecting the low-speed performance of the system. It not only causes the steady-sta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 田翠侠邢科礼
Owner SHANGHAI UNIV
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