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Auto-disturbance-rejection control method for motor servo system with consideration of state constraint

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in the field of control and can solve problems such as the uncertainty state constraints of the motor position servo system

Active Publication Date: 2018-08-31
ANHUI UNIVERSITY OF TECHNOLOGY
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  • Abstract
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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 motor servo system ADRC control method considering state constraints to solve the problem of uncertainty and state constraints in the motor position servo system

Method used

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  • Auto-disturbance-rejection control method for motor servo system with consideration of state constraint
  • Auto-disturbance-rejection control method for motor servo system with consideration of state constraint
  • Auto-disturbance-rejection control method for motor servo system with consideration of state constraint

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Experimental program
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Embodiment

[0174] The initial state of the system is x 1 (0)=1,x 2 (0)=0, in the simulation, the controller designed in this paper takes the following parameters to model the system: m=0.01, kg m 2 , k f =5, b=1.25N·s / m, θ 1n =400,θ 2n =80,k 1 =70,k 2 =0.001,b 1 = 2,b 2 =0.01, L 1 = 2, L 2 =200, ω=800. The PID controller parameter is k p =110,k i =70,k d = 0.3. Position angle input signal y d (t)=2sin(πt)[1-exp(-0.01t 3 )] rad, d(x,t)=100sin(2πt)N·m.

[0175] The effect of the control law:

[0176] image 3 is the interference estimate and the interference estimate error curve.

[0177] Figure 4 is state x 1 Estimates and their estimation error curves.

[0178] Figure 5 are the output states of the two controllers.

[0179] Figure 6 It is the input voltage u curve of the designed controller under the action of interference, and the input voltage of the controller satisfies the input range of -10V~+10V, which is in line with practical application.

[0180] F...

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Abstract

The invention provides an auto-disturbance-rejection control method for a motor servo system with consideration of the state constraint. The method comprises: step one, establishing a motor position servo system model; step two, designing an auto-disturbance-rejection controller of a motor servo system with consideration of the state constraint; and step three, adjusting parameters of an auto-disturbance-rejection control law of the motor servo system with consideration of the state constraint to enable the system to meet a control performance index.

Description

technical field [0001] The invention relates to a control method, in particular to an active disturbance rejection control method for a motor servo system considering state constraints. Background technique [0002] Because of its wide application in industry, with the development of modern industry, the high-performance control of the motor system has faced greater market demand. However, it is not easy to design a high-performance controller for a servo system. Due to changes in working conditions, external disturbances, and modeling errors, it is difficult to obtain an accurate model of the actual industrial process, and various faults in the system will also lead to model failures. Uncertainty, that is to say, the uncertainty of the model exists widely in the control system. These uncertainties may seriously deteriorate the control performance that can be achieved, resulting in low control accuracy, limit cycle oscillations, and even instability. For known nonlineariti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐张宝胡晓磊孙船斌
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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