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Self-adaptive robust output feedback control method for motor position servo system

An adaptive robust, output feedback technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of parameter uncertainty, nonlinearity, etc., to meet the control accuracy and solve the parameter uncertainty. stability and uncertain nonlinear problems, the effect of simplifying controller design

Inactive Publication Date: 2015-04-29
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] In order to solve the parameter deterministic and uncertain nonlinear problems in the motor position servo system when only the position state is known, the present invention further proposes an adaptive robust output feedback control method for the motor position servo system based on state estimation

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  • Self-adaptive robust output feedback control method for motor position servo system
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  • Self-adaptive robust output feedback control method for motor position servo system

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Embodiment Construction

[0027] 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.

[0028] Aspects of the invention are described in this disclosure with reference to the accompanying drawings, which show a number of illustrated embodiments. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those concepts and embodiments described in more detail below, can be implemented in any of a number of ways, which should be the concepts and embodiments disclosed by the present invention and not Not limited to any implementation. In addition, some aspects of the present disclosure may be used alone or in any suitable combination with other aspects of the present disclosure.

[0029] combine figure 1 and figure 2 As shown, according to a ...

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Abstract

The invention provides a self-adaptive robust output feedback control method for a motor position servo system. The method is implemented by the following steps: 1, establishing a motor position servo system model; 2, designing a state-estimation-based motor self-adaptive robust output feedback controller; 3, regulating parameters in the robust controller based on limited time interference estimation to enable the system to meet requirements on control performance indexes. According to the self-adaptive robust output feedback control method for the motor position servo system, the motor position servo system model is established according to the characteristics of the motor position servo system, and the system state is estimated for controller design based on the motor indirect self-adaptive robust output feedback controller of a high-order sliding mode differentiator, so that the influence of measurement noise on the controller is avoided, the problems of parameter uncertainty and uncertain nonlinearity of the motor position servo system can be effectively solved, and the control accuracy of the system meets the requirements on the performance indexes under an interference condition.

Description

technical field [0001] The invention relates to the field of a motor position servo system, in particular to an adaptive robust output feedback control method for a motor position servo system. Background technique [0002] DC motors have the advantages of fast response, large starting torque, and the ability to provide rated torque from zero speed to rated speed, so they are widely used in industry. With the needs of industrial development, high-precision motion control has become the main development direction of modern DC motors. However, it is not easy to design a high performance controller for a motor servo system. Because designers are likely to encounter a lot of model uncertainties, including unmodeled nonlinearities such as structural uncertainties (parameter uncertainties) and nonstructural uncertainties. These uncertainties may seriously deteriorate the control performance that can be achieved, resulting in low control accuracy, limit cycle oscillations, and ev...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 姚建勇徐张宝杨贵超邓文翔董振乐
Owner NANJING UNIV OF SCI & TECH
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