Constrained control method of electromechanical servo system based on preset echo state network

A technology of electromechanical servo system and echo state network, applied in the direction of adaptive control, general control system, control/regulation system, etc. limit and other issues

Active Publication Date: 2018-11-20
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the shortcomings of existing electromechanical servo systems that cannot effectively compensate input limitations, do not consider transient performance, and static neural network approximation effects are not good, etc., the present invention provides an electromechanical servo system based on a preset echo state network. The limited control method, considering the existence of the limited input and output, adopts the echo state network to approximate the unknown function, realizes the tracking control of the limited electromechanical servo system, and ensures that the system has good transient stability performance

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  • Constrained control method of electromechanical servo system based on preset echo state network
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  • Constrained control method of electromechanical servo system based on preset echo state network

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Embodiment Construction

[0091] The present invention will be further described below in conjunction with the accompanying drawings.

[0092] refer to Figure 1-Figure 6 , a method for constrained control of an electromechanical servo system based on a preset echo state network, comprising the following steps:

[0093] Step 1, establish the dynamic model of the electromechanical servo system, the process is as follows:

[0094] 1.1 The expression form of the dynamic model of the electromechanical servo system is

[0095]

[0096] Among them, x is the position; m is the inertia; k 0 is the force constant; is a state variable; is the friction force; is a bounded disturbance generated by modeling, which comes from coupling characteristics, measurement noise, electronic interference and other uncertain factors; u is the control input voltage of the motor; v(u) is saturation, expressed as:

[0097]

[0098] Where sgn(u) is an unknown nonlinear function; v max is the unknown saturation param...

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Abstract

The invention provides an electromechanical servo system limitation control method based on a preset echo state network. The method comprises the steps that a dynamic model of an electromechanical servo system is established, and the system state, sampling time and control parameters are initialized; linear processing is performed on nonlinear input saturation limitation in the system according to the differential mean value theorem so as to derive an electromechanical servo system model with unknown saturation; control system tracking error and a sliding mode surface are calculated based on a preset echo state network control method, and a new error variable is obtained to design a virtual control variable according to preset performance function conversion tracking error; and the virtual control variable is through a high-order differentiator and control input is deigned. The invention provides the high-order dynamic surface sliding mode control method capable of effectively compensating input and output limitation and enhancing neural network approximation performance so that stable and rapid tracking of the system can be realized, and great transient and steady performance can be guaranteed.

Description

technical field [0001] The invention belongs to a control method of an electromechanical servo system, and relates to a limited control method of an electromechanical servo system based on a preset echo state network, in particular to a control method of an electromechanical servo system with limited input and limited output. Background technique [0002] With the rapid development of power electronics technology, computer science, modern control theory, material technology and the gradual improvement of motor manufacturing technology, precision CNC machine tools, industrial robots, electronic processing and testing equipment, laser processing equipment, printing machinery, packaging machinery , clothing processing machinery, production automation and other industrial control fields, nonlinear electromechanical servo systems have been widely used. The nonlinear electromechanical servo system is an automatic control system whose control objects are mechanical parameters such ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强施琳琳陶亮郭一军
Owner ZHEJIANG UNIV OF TECH
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