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Control Method of Dual Motor Servo System Based on Segmented Neural Network Friction Model

A dual-motor servo and friction model technology, which is applied to motor generator control, electronic commutation motor control, control systems, etc., can solve problems that have not been mentioned in any invention

Active Publication Date: 2018-01-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0006] However, most of these existing methods only study tracking with friction compensation or multi-motor synchronization problems alone, and no inventions have been mentioned that can solve these two problems at the same time.

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  • Control Method of Dual Motor Servo System Based on Segmented Neural Network Friction Model
  • Control Method of Dual Motor Servo System Based on Segmented Neural Network Friction Model

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Embodiment Construction

[0089] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0090] A method for controlling a motor servo system based on a segmented neural network friction model, comprising the following steps:

[0091] Step 1. Analyze the friction-containing dual-motor drive servo system, and establish a mathematical model of the friction-containing dual-motor drive servo system according to the mechanism modeling method, according to the structure and physical laws of the motor, as follows:

[0092]

[0093] in,

[0094]

[0095]

[0096] In formula (24), formula (25) and formula (26), θ i (i=1,2) and θ m represent the rotation angles of the driving end and the load end, respectively; and Respectively represent the rotational speed of the drive end and the load end; and Respectively represent the acceleration of the driving end and the load end; J represents the moment of inertia o...

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Abstract

The invention relates to a dual-motor servo system control method based on a segmented neural network friction model, and belongs to the technical field of electromechanical control. Firstly, the double-motor driven servo system with friction is analyzed, and the mathematical model of the double-motor driven servo system with friction is established according to the mechanism modeling method, according to the structure and physical laws of the motor. Then the friction term fi in the model is analyzed, and the friction model of friction nonlinear fi is established by using the segmental neural network. The obtained segmental neural network friction model uses the terminal sliding mode control algorithm to obtain the motor speed synchronous control law, and completes the synchronous tracking control of the dual-motor servo system according to the control law. The method of the invention can eliminate the influence of friction on the dual-motor system, enable the dual-motor system to have better transient performance, effectively improve the tracking response speed of the dual-motor servo system, and ensure the rapid synchronization of the dual-motor system.

Description

technical field [0001] The invention relates to a dual-motor friction compensation synchronous tracking control method, which belongs to the technical field of electromechanical control. Background technique [0002] With the rapid development of modern science and technology, it is increasingly difficult for single-motor servo systems to meet the needs of high-power systems in terms of power and performance. Using multiple motors to jointly drive loads can solve this problem very well. In multi-motor servo systems, frictional nonlinearity leads to many negative effects, for example, Stribeck effect and speed dead zone, which seriously affects the tracking accuracy of the servo system at low speeds. This makes it difficult to ensure a good control effect for the multi-motor servo system using traditional controllers. How to ensure high-precision tracking and synchronous control of multi-motor servo systems has become a hot issue. [0003] Friction is an unavoidable problem...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/00
Inventor 任雪梅张宇赵威李冬伍吕晓华
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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