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Robust Adaptive Control Method of Error Sign Integral for Motor Servo System

A robust self-adaptive, servo system technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve uncertain nonlinear problems and achieve the effect of ensuring control accuracy

Inactive Publication Date: 2020-06-19
NANJING UNIV OF SCI & TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a robust adaptive control method for the error sign integral of the motor servo system to solve the uncertain nonlinear problem in the motor position servo system

Method used

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  • Robust Adaptive Control Method of Error Sign Integral for Motor Servo System
  • Robust Adaptive Control Method of Error Sign Integral for Motor Servo System
  • Robust Adaptive Control Method of Error Sign Integral for Motor Servo System

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Embodiment

[0092] Simulation parameters: J equ =0.00138kg m 2 , B equ =0.4N m / rad,k u =2.36N·m / V. Take the controller parameter k 1 =12,k 2 = 1.5,k r = 1, θ 1n =0.02, θ 2n =0.294, the selected nominal value of è is far from the true value of the parameter, in order to examine the effect of the adaptive control law. The PID controller parameter is k p =90,k i =70,k d = 0.3. The given position is referenced to the input signal The unit is rad.

[0093] Disturbance (1) Under the condition of only constant disturbance and d n = 0.5 N·m. Disturbance (2) When constant disturbance and other unmodeled disturbance coexist, and d n =0.5N·m, Disturbance (3) When constant disturbances and other unmodeled disturbances coexist, and the input is limited, d n =0.5N·m, v=u·0.8.

[0094] See the effect of the control law Figure 3-Figure 9 :

[0095] image 3 It is the tracking process diagram of the system output of the controller to the given output under the action of disturba...

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Abstract

The invention discloses a motor servo system error symbol integral robust adaptive control method comprising the following steps of establishing a motor position servo system model; designing an error symbol integral robust adaptive controller; based on the error symbol integral robust adaptive controller, conducting stability proving of the stability of the motor servo system through utilization of the Lyapunov stability theory; and using the Barbalat lemma to obtain the global asymptotic stability result of the system. According to the invention, an error symbol integral robust adaptive anti-interference controller based on parameter self-adaptation is proposed for the parameter uncertainty and unknown non-linear factors in a motor servo system. The parameter adaptive rate can effectively estimate unknown parameters in the system, and error symbol integral robust terms are adopted to overcome other uncertain nonlinear factors in the system, thereby ensuring the control precision in the motor servo system.

Description

technical field [0001] The invention relates to motor servo control technology, in particular to a robust self-adaptive control method for error sign integral of a motor servo system. Background technique [0002] The permanent magnet brushless DC motor has a wide range of applications in the industrial field due to its own characteristics of fast response, high energy utilization rate, and low pollution. With the rapid development of industrial technology in recent years, higher requirements have been placed on the control technology of DC motors. How to improve the motion accuracy of DC motors has become the main research direction of DC motors. In the motor servo system, due to different working conditions and some structural limitations, it is difficult to completely reflect the real model when the system is modeled. Therefore, these model uncertainties play a very important role in the design of the controller, especially Uncertain nonlinearity will seriously deteriora...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡健刘雷
Owner NANJING UNIV OF SCI & TECH
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