Double neural network friction compensation and finite time cooperative control method for motor servo system
A dual neural network and servo system technology is applied in the fields of dual neural network friction compensation and limited-time cooperative control of motor servo systems, and can solve problems such as difficulty in determining the precise model of friction links.
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[0065] Refer to attached Figure 1-5 , the dual neural network friction compensation and finite-time cooperative control method for the motor servo system, including the following steps:
[0066] Step 1, establish the motor servo system model shown in formula (1), initialize the system state and related control parameters;
[0067] m x · · = - K f x + u ( t ) - F - - - ( 1 )
[0068] Among them, m is the effective mass; x is the state variable, indicating the position of the motor rotor; u(t) is the control signal, indicating the voltage changing with time; K f is the damping coefficient, which is a constant value parameter; F is the unknown nonlinear friction force.
[0069] Step 2, establish a LuGre model of nonlinear friction force, and divide ...
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