Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling

An adaptive robust, error modeling technology, applied in adaptive control, general control systems, control/regulation systems, etc., can solve problems such as uncertain nonlinearity, and achieve the effect of overcoming the influence of control accuracy and reducing the influence.

Active Publication Date: 2020-03-17
NANJING UNIV OF SCI & TECH
View PDF7 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an adaptive robust control method based on dual electric cylinder synchronous motion error modeling, which solves the uncertain nonlinear problem in the dual electric cylinder synchronous motion servo system

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling
  • Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling
  • Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling

Examples

Experimental program
Comparison scheme
Effect test

example

[0093] The simulation parameters are: smooth function S f (·)He was elected Robust control part u s1 + u s2 was selected as -K r s, with a sufficiently large feedback gain K in the implementation r , the parameter adaptive adaptation rate is set as Γ=[30,30,20,20,20,20,3000,3000] T , to track the desired sinusoidal trajectory The amplitude is 0.2m, the frequency is 0.5Hz. Select Λ=diag[120,80] and K r =diag[70,50]. The initial values ​​of the parameter estimates are set to (1) In the working condition where there are only constant disturbances, (2) In the case of constant disturbances, an impact disturbance is added at 40s.

[0094] The effect of the controller is as Figure 3 to Figure 10As shown, it can be seen that the algorithm proposed by the present invention has good control performance in the simulation environment, and the controller designed by it can ensure good control accuracy in the presence of parameter uncertainties and large disturbances. The resea...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling, which belongs to the field of electromechanical servo control. The self-adaptive robust control method establishes a double-cylinder servo system model based on synchronous motion errors according to the characteristics of a double-electric-cylinder synchronous position servo system; aiming at the problem that parameter uncertainty and uncertainty of all models except the parameter uncertainty exist in an electromechanical servo system at the same time, parameter self-adaption and robust control are used for dealing with the uncertainty of the two systems respectively, and the problem of uncertain nonlinearity in a double-electric-cylinder synchronous servo system can be effectively solved; and a designed self-adaptive robust controller based on double-electric-cylinder synchronous motion error modeling is a synchronous control strategy based on a cross coupling method, has a good robustness effect on non-structural uncertainty such as coupling interference possibly generated in the synchronous movement process of double electric cylinders, and can ensure that position output can track an expected position instruction precisely.

Description

technical field [0001] The present invention relates to motor servo control technology, in particular to an adaptive robust control method based on dual electric cylinder synchronous motion error modeling. Background technique [0002] The permanent magnet brushless DC motor has a wide range of applications in the industrial field due to its own characteristics of fast response, high energy utilization rate, and low pollution. With the development of industrial technology, the movement of large and heavy-duty equipment is obviously unable to meet the requirements of modern engineering by relying solely on the traditional single-actuator drive method. However, the dual-motor synchronous drive is gradually adopted by the industry due to its simple structure and easy automation. It is widely used in many fields, especially in the fields of robot control, mobile radar and anti-aircraft weapon launch platform in recent years, the synchronous drive of multi-motor actuators has bec...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡健曹书鹏
Owner NANJING UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com