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A cross-coupling control algorithm and system based on pid control

A cross-coupling and control algorithm technology, applied in the field of cross-coupling control algorithms and systems, can solve problems such as poor self-adaptation and difficulty in setting classic PID control parameters

Active Publication Date: 2021-03-16
TAIZHOU UNIV
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Problems solved by technology

However, the servo system has the characteristics of nonlinearity and time variation, and the classic PID control has problems such as difficult parameter setting and poor self-adaptation.

Method used

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  • A cross-coupling control algorithm and system based on pid control
  • A cross-coupling control algorithm and system based on pid control
  • A cross-coupling control algorithm and system based on pid control

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Embodiment Construction

[0093] A cross-coupling control algorithm and system based on PID control proposed by the present invention will be described in detail below with reference to the accompanying drawings. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "left", "right", "upper", "lower", "bottom", etc. is based on the orientation shown in the drawings or The positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, "first", "second", etc. The importance of the components is not indicated, and therefore should not be construed as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the protectio...

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Abstract

The invention discloses a cross-coupling control algorithm and system based on PID control. Firstly, a sliding mode variable structure controller is used as single-axis position tracking control to effectively reduce the position tracking error of each axis. In order to further reduce a contour error, a cross-coupling control strategy based on PID control is introduced to eliminate the influence of mismatch of each axis parameter, and the self-learning ability of a neural network is used to adaptively set the PID parameters to effectively solve the problem that the PID parameters are difficultto set. Finally, a simulation result shows that the provided control algorithm is effective and can significantly reduce the contour error of the servo system.

Description

technical field [0001] The invention belongs to the field of servo motion control, in particular to a cross-coupling control algorithm and system based on PID control. Background technique [0002] The control strategy of the servo system is usually divided into two types: tracking control and contour control. The basic idea of ​​tracking control is to indirectly reduce the contour error of the servo system by improving the position tracking performance of each motion axis. However, the contour error is not the simple vector sum of the motion errors of each axis, but the synthesis of the position tracking accuracy of each axis and the multi-axis linkage accuracy. The mismatch of the dynamic characteristics and parameters of each axis will cause contour errors, making it difficult for this kind of control method to achieve the ideal. control effect. In order to improve the contour control accuracy and realize multi-axis synchronous motion, cross-coupling control can be cons...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42G05B13/02G05B13/04
CPCG05B11/42G05B13/027G05B13/042
Inventor 王三秀陈光邬玲伟崔跃利汪洋蒋胜韬
Owner TAIZHOU UNIV
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