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Servo system controller with self-adapting fuzzy frictional compensation

An adaptive fuzzy and friction compensation technology, which is applied in the field of precision motor servo system, can solve the problems that cannot meet the requirements of high precision and fast response of the servo system, make accurate compensation of the difficult motor servo system, and cannot guarantee the system control performance. The effect of offsetting unknown friction, ensuring closed-loop stability, and fast friction model identification speed

Inactive Publication Date: 2009-08-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the actual friction has more complex nonlinear characteristics, and it is difficult to describe the real friction characteristics by using a simplified friction model, so it is difficult to achieve accurate compensation for the friction force of the motor servo system
In addition, general servo system controllers cannot guarantee the control performance of the system in the presence of bounded disturbances
Therefore, the current servo system controllers often cannot meet the high precision and fast response requirements of the servo system.

Method used

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  • Servo system controller with self-adapting fuzzy frictional compensation
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  • Servo system controller with self-adapting fuzzy frictional compensation

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Embodiment Construction

[0024] The invention provides an adaptive fuzzy friction compensation method of a motor servo system. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] figure 1 is a block diagram of a servo system controller with adaptive fuzzy friction compensation. The servo system controller with adaptive fuzzy friction compensation includes: a robust control module, a parameter adaptive adjustment module, and a fuzzy friction compensator. The servo system controller with adaptive fuzzy friction compensation can be realized by embedded processors such as digital signal processors (eg: TMS320F2812, TMS320LF2407), 8051 single-chip microcomputers and their peripheral circuits. Since the algorithm proposed by the present invention is a continuous time algorithm, the software implementation in the embedded processor needs to use numerical methods such as Runge-Kutta method and Euler method to convert the continuous tim...

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Abstract

The invention discloses a servo system controller with self-adaptive fuzzy friction compensation. The servo system controller is used for improving the output tracking precision and fast response of a motor servo system, and is particularly applicable to a precision motor servo system which requires high precision and fast response. The invention comprises a parameter self-adaptive adjustment module, a fuzzy friction compensator and a robust control module. By adopting a fuzzy model to approximate a friction force model, the online assessment of the friction force value is realized by a self-adaptive adjustment of the fuzzy model parameters, and then a friction compensation is carried out so as to eliminate the adverse effects of the friction force on the output tracking precision and fast response of the servo system; and the adjustment of the fuzzy model parameters adopts a composite self-adaptive law and simultaneously uses the information relative to the system output error and the parameter evaluation error for carrying out the parameter adjustment so as to improve the parameter convergence speed. As the controller can realize fast and accurate friction model evaluation and friction compensation, the output tracking precision and fast response of the servo system can be greatly improved.

Description

technical field [0001] The invention relates to a servo system controller with self-adaptive fuzzy friction compensation, which is used to improve the output tracking accuracy and quick response of the motor servo system, and is especially suitable for the precision motor servo system requiring high precision and fast response. Background technique [0002] For a servo system with contact motion, friction is an important factor affecting its accuracy and response speed. Due to the influence of friction, the output speed of the servo system is often unstable when it is moving at a low speed, and even stagnation occurs. Another important factor affecting the servo system is the external disturbance. Under the action of disturbance, the accuracy of the servo system will decrease. Therefore, in order to improve the accuracy and rapidity of the servo system, its controller must not only realize the compensation of friction, but also overcome the influence of external disturbanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
Inventor 陈杰甘明刚张国柱窦丽华彭志红蔡涛白永强陈文颉潘峰张佳张娟
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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