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Output feedback control method of motor position servo system based on state estimation

A technology of motor position and servo system, applied in the direction of motor generator control, electronic commutation motor control, control system, etc., can solve the problem that PID is difficult to meet high-performance control

Inactive Publication Date: 2015-01-07
NANJING UNIV OF SCI & TECH
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Problems solved by technology

But at the same time, it is undeniable that under the new demands of the modern industrial age, it is increasingly difficult for PID to meet the increasingly high-performance control

Method used

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  • Output feedback control method of motor position servo system based on state estimation
  • Output feedback control method of motor position servo system based on state estimation
  • Output feedback control method of motor position servo system based on state estimation

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Embodiment Construction

[0066] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0067] Such as figure 1 As shown, according to a preferred embodiment of the present invention, the output feedback control method of the motor position servo system based on state estimation is characterized in that the realization of the method includes the following steps:

[0068] Step 1, establish the mathematical model of motor position servo system;

[0069] Step 2. Configure the motor output feedback controller based on state observation;

[0070] Step 3. Adjust the parameters in the robust controller based on finite-time disturbance estimation so that the system meets the control performance index.

[0071] The following combines 2 and appended Figure 3-8 As shown, the implementation of the above steps is specifically described.

[0072] Step 1. Establish the mathematical model of the...

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Abstract

The invention provides an output feedback control method of a motor position servo system based on state estimation. The method comprises the steps that firstly, a mathematical model of the motor position servo system is established; secondly, a motor output feedback controller based on state observation is arranged; thirdly, parameters in a robustness controller based on finite time interference estimation are adjusted to enable the system to meet the control performance index. According to the output feedback control method, the motor position servo system model is established according to the characteristics of the motor position servo system. The motor output feedback controller based on state observation is designed, estimates the system state and is used for designing controllers, the effect on the controllers of measurement noise is avoided, the problem of uncertain nonlinearity of the motor servo system can be effectively solved, the system control precision can meet the performance index under the interference conditions, and the design of the controllers can be simplified by means of the output feedback control method.

Description

technical field [0001] The invention relates to the technical field of motor position servo control, in particular to an output feedback control method of a motor position servo system based on state estimation. Background technique [0002] The linear motor directly converts electrical energy into linear motion mechanical energy without any transmission device for intermediate conversion mechanisms. It has the advantages of large starting thrust, high transmission rigidity, fast dynamic response, high positioning accuracy, and unlimited stroke length, so it is widely used in industry. However, it is not easy to design a high-performance controller for a motor-servo system because it is difficult to obtain an accurate model of the actual industrial process due to changing operating conditions, external disturbances, and modeling errors. [0003] In order to improve the tracking performance of the motor system, many advanced nonlinear controllers are studied, such as robust ...

Claims

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Application Information

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IPC IPC(8): H02P21/00
Inventor 徐张宝姚建勇杨贵超
Owner NANJING UNIV OF SCI & TECH
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