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A Nonsingular Terminal Sliding Mode Specified Performance Control Method for Turntable Servo System

A non-singular terminal, servo system technology, applied in the field of control with specified performance

Active Publication Date: 2017-04-12
南京申威光电技术研究院有限公司
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Problems solved by technology

[0005] In order to overcome the deficiencies of the existing turntable servo system that cannot avoid additional dead zone compensation and does not allow the system to have unknown parameters, the present invention provides a non-singular terminal sliding mode specified performance control method for the turntable servo system, combined with output restrictions, non-singular terminal Sliding mode and neural network ideas, design controllers, and realize system specified performance tracking

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  • A Nonsingular Terminal Sliding Mode Specified Performance Control Method for Turntable Servo System
  • A Nonsingular Terminal Sliding Mode Specified Performance Control Method for Turntable Servo System
  • A Nonsingular Terminal Sliding Mode Specified Performance Control Method for Turntable Servo System

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Embodiment Construction

[0077] The present invention will be further described below in conjunction with the accompanying drawings.

[0078] refer to Figure 1-Figure 4 , a non-singular terminal sliding mode specified performance control method for a turntable servo system, comprising the following steps:

[0079] Step 1, establish the dynamic model of the turntable servo system, initialize the system state, sampling time and control parameters;

[0080] 1.1 The mechanical dynamic model of the turntable servo system can be described as

[0081]

[0082] in, y=x(t)∈R, u(t)∈R represent system state, control input voltage and motor output respectively; x represents position, m represents load mass, k 0 represents the control gain, f(x,t) is the friction force, d(x,t) is the bounded disturbance including measurement noise, electromagnetic interference and other unknown items, v(u)∈R represents the input saturation function, and represents for

[0083]

[0084] 1.2 In order to facilitate the d...

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Abstract

Disclosed is a nonsingular terminal sliding mode (NTSM) designated performance control method of a turntable servo system. The NTSM designated performance control method of the turntable servo system includes: building a dynamic model of the turntable servo system, and initializing status, sampling time and related control parameters of the turntable servo system; using a smooth affine function to approximate an input saturation function in the turntable servo system, and deriving a turntable servo system model with a saturation function; calculating tracking error of a control system, an FC (funnel control) error variable, and a first order differential coefficient and a second order differential coefficient of the control system; selecting a neural network to approximate an unknown dynamic condition according to an NTSM theory based on the turntable servo system model with the saturation function, designing an NTSM designated performance controller, and updating a weight matrix of the neural network. The NTSM designated performance control method of the turntable servo system can effectively prevent input of the saturation function from influencing the turntable servo system, and achieves control effects of designated performance.

Description

technical field [0001] The invention relates to a non-singular terminal sliding mode designated performance control method of a turntable servo system, in particular to a designated performance control method of a turntable servo system with input and output constraints. Background technique [0002] Turntable servo system is widely used in various fields such as flight control and fire control. For the output-constrained control problem of the turntable servo system, there are many control methods, such as adaptive control, sliding mode control, terminal sliding mode control and so on. The traditional linear sliding mode control method can guarantee the asymptotic convergence of the tracking error of the controlled system, that is: theoretically, the tracking error can converge to the equilibrium point in infinite time. In order to improve the convergence speed of the system tracking error, a nonlinear term is generally added on the basis of the linear sliding mode, and th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 陈强汤筱晴
Owner 南京申威光电技术研究院有限公司
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