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A sliding mode control method for hysteretic nonlinear servo motor system

A hysteresis nonlinear, servo motor technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as numerous parameters and complex models

Active Publication Date: 2021-04-09
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

Mathematical models have strong versatility and a wide range of applications, but often the models are complex and have many parameters

Method used

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  • A sliding mode control method for hysteretic nonlinear servo motor system
  • A sliding mode control method for hysteretic nonlinear servo motor system
  • A sliding mode control method for hysteretic nonlinear servo motor system

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Embodiment Construction

[0055] The present invention is described in detail below by specific embodiment:

[0056] Such as figure 1 As shown, the overall design idea of ​​the present invention is: first convert the hysteresis servo motor system model into a state space form, wherein the hysteresis nonlinear link adopts the Backlash-like model. Unlike other methods, the present invention does not directly solve the Backlash-like model Instead of analyzing the solution, the Backlash-like model is integrated into the system state space model and processed together as a new state variable. The sliding mode state observer is designed to observe the unknown state of the hysteresis servo motor system, and the unknown disturbance of the system is estimated according to the Chebyshev neural network. Then, according to the defined error function and sliding mode surface, a sliding mode controller is designed to accurately control the hysteresis servo motor system.

[0057] The specific design steps are as follo...

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Abstract

The invention discloses a hysteresis nonlinear servo motor system sliding mode control method, relates to the technical field of electromechanical control, designs a sliding mode state observer to observe the unknown state of the system, and solves the state variables of the hysteresis servo motor system such as servo motor angular velocity and angular acceleration , load angular velocity, load angular acceleration, hysteresis, etc. are difficult to measure directly, thus affecting the controller design; regard the remaining unknown parts of the system as disturbances, and use only one layer of Chebyshev neural network to estimate the unknown disturbances of the system, avoiding At the same time, the disturbance observer and state observer are designed to reduce the control difficulty and solve the estimation problem of the unknown disturbance of the hysteresis servo motor system; the sliding mode controller is designed to realize the accuracy of the hysteresis servo motor system by adjusting the tracking error and the sliding mode surface Tracking control, high precision, strong robustness, reduces the difficulty of the algorithm, unifies the model, and is more general.

Description

technical field [0001] The invention relates to the technical field of electromechanical control, in particular to a sliding mode control method for a hysteretic nonlinear servo motor system. Background technique [0002] With the development and innovation of science and technology, the requirements for servo motor control accuracy are getting higher and higher, which first requires the servo motor model to be accurate, but in the hysteresis servo motor system, the existence of hysteresis nonlinearity has great impact on model establishment and control strategy research. It caused a lot of difficulty, seriously affected the control accuracy of the hysteresis servo motor, and even caused shocks in severe cases, resulting in instability of the control system. Therefore, the precise control of the hysteresis servo motor system is an urgent problem to be solved. [0003] There are many kinds of hysteresis models in the hysteresis servo motor system. The pure physical models in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 高学辉孙波张成元李英建祝长生孙步胜
Owner SHANDONG UNIV OF SCI & TECH
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