Model-free adaptive control method of linear motor servo system

Abstract

The invention relates to a model-free adaptive control method of a linear motor servo system, and belongs to the technical field of automatic control and mechanical-electrical integration. The model-free adaptive control method comprises the steps of 1) connecting and setting a parameter of a linear motor driver and testing running characteristic of a linear motor; 2) programming to achieve MFAC control, wherein the step 2) particularly comprises the steps of 2.1) calculating an output u(k) of the controller according to u(k)=u(k-1)+{[Rho Theta-bar (k)] / [Lamda+Theta-bar (k)<2>]}[y<*>(k+1)-y(k)]; and 2.2) calculating an output Theta-bar (k) of an estimator according to Theta-bar (k)= Theta-bar (k-1)+{[Eta Delta u(k-1)] / [Mu+Delta u(k-1)<2>]}[Delta y (k)-Theta-bar (k-1) Delta u(k-1)]; 3) downloading the output u(k) of the controller to a digital signal processor, and converting the output to an analogue signal; 4) generating a voltage output signal to drive the linear motor to run; 5) changing a parameter of a model-free adaptive control algorithm on line, and changing amplitude of an expected sine position signal; 6) performing on-line estimation on a pseudo-partial-derivative Theta-bar (k); 7) adjusting the output u(k) of the model-free adaptive controller on line according to the pseudo-partial-derivative Theta-bar (k); and 8) displaying a control result in real time, and observing a running effect of the linear servo system. The method has the advantages of high steady-state tracing accuracy, rapid dynamic response, good robustness and high interference-resistant capability.

Description

technical field [0001] The invention relates to a model-free self-adaptive control method of a linear motor servo system, which belongs to the fields of automatic control, mechatronics and related technologies. Background technique [0002] Parts with non-circular cross-sections are widely used. Modern industry requires non-circular cutting tools to track complex shaped surfaces with high speed and high precision in the radial direction to improve machining accuracy. One of the key components of non-circular cutting lathes is the radial feed system. Non-circular cross-section parts bring difficulties to machining because of their unique shape features. The more complex the profile, the higher the cutting speed. The feed system The higher the requirements. High system transmission accuracy, high cutting frequency response capability, high rigidity and ability to resist dynamic load are the guarantees for the undistorted section profile of the part. [0003] The wide applica...

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Problems solved by technology

[0009] Although the above existing model-based control methods have good control effects when the precise model of the controlled object is known, however, in the linear motor servo system with strong unmodeled dynamics, the controller design must achieve The above-mentioned model-based control methods are not suitable for dealing with control problems with strong unmodeled dynamics due to high steady-state tracking accuracy, fast dynamic response, strong anti-interference ability, and good robustness.

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