An Optimal Decentralized Robust Control Method for Four-motor Servo System

Abstract

The invention discloses an optimal decentralized robust control method for a four-motor servo system. The method comprises establishing a state-space equation of the four-motor servo system by using abacklash dead zone model; obtaining an nominal interconnection system according to a four-motor interconnection system state equation; designing an optimal decentralized robust controller for each motor in order that the output of each motor tracks a reference signal and a performance index is minimized; for the nominal interconnection system, establishing an isolated single motor system withoutan interconnection term; and for the isolated single motor system, establishing an optimal feedback controller. The method transforms the design of the guaranteed cost controller of a uncertainty system into the design of the optimal decentralized robust controller of the nominal interconnection system, and for the design of the optimal decentralized robust controller for the nominal interconnection system, designs the optimal tracking controller from the isolated system so as to construct the optimal decentralized robust controller of the interconnection system.

Description

technical field [0001] The invention relates to the technical field of electromechanical control, in particular to an optimal decentralized robust control method for a four-motor servo system. Background technique [0002] With the emergence of large inertia and high-power equipment in the industry, the method of using multiple motors to drive simultaneously has replaced the traditional single-motor drive and has become a research hotspot and difficulty in the field of servo system control, and has been successfully applied to industrial steel rolling systems, radar Servo system, naval gun control system. Compared with the single-motor drive system, the four-motor drive system can greatly enhance the system's overload capacity and overall drive capability, greatly reduce the performance requirements for each drive motor power, and eliminate manufacturing costs and technical limitations. At the same time, linkage control can improve the control precision of the complex syste...

AI Technical Summary

Problems solved by technology

At home and abroad, a certain amount of exploration and research on structure / control integration has been carried out, but a considerable part of the methods adopted are cyclic iterations, and there are relatively few studies on four-motor servo systems, which are increasingly used in daily life. The important status makes it practical to study the integrated design of its structure and control

[0005] It can be seen that most of the research on large-scale interconnected systems with parameter uncertainties is still at the theoretical stage, and for four-motor systems with parameter uncertainties and interconnected items, no effective control method has been proposed to make the performance of the system reach best

Moreover, the traditional optimal control method only optimizes the control parameters without considering the influence of mechanical structure parameters on system performance.

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