Method for designing U-model anti-interference controller of continuous system based on standard form

Abstract

The invention discloses a design method for a U-model anti-interference controller of a continuous system based on a standard form. The method comprises the following steps: designing a second-order ESO, estimating the total disturbance of the system, compensating the total disturbance of the system in real time through a control law, and transforming any controlled object into an integrator series standard form; on the basis of work of the second-order ESO, introducing a differential link to dynamically convert a transfer function of a control system into G(s)=1; on the basis of dynamically transforming the controlled object, designing a control law to enable the output to follow a set value, and compensating the influence of the estimation error of the second-order ESO on the output; andadjusting the adjustable parameters to enable the system to meet a stable condition and enable the control deviation to converge to 0 within limited time. According to the method, the second-order ESO is used for estimating total disturbance, the controlled object is converted into a standard type through a total disturbance compensation method, a differentiator is connected in series on the basis, the controlled object is dynamically converted into 1 through a U model control idea, and phase lag between input and output is eliminated.

Description

technical field [0001] The invention belongs to the field of advanced control, in particular to a design method of a standard-based continuous system U-model anti-disturbance controller. Background technique [0002] Automatic control technology is the core technology of advanced manufacturing and the basis for obtaining high-quality, precise and cutting-edge equipment. Taking the field of robotics as an example, my country has become the world's largest robot application market for five consecutive years, but high-end robots still rely on imports. Due to the lack of mastery of the core control algorithm, the key indicators of domestic robots such as stability, failure rate, and ease of use are far inferior to those of Japan's Nako, Yaskawa, Switzerland's ABB, and Germany's Kuka robot products. Every time the robot completes an action, it needs the coordination of the controller, servo driver and servo motor. High-end robots require more than 6 servo systems. The gap in th...

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Problems solved by technology

[0005] In order to solve the problem that the phase lag caused by the inherent relative order of the controlled object cannot be eliminated by traditional control methods, the present invention designs a standard U-model controller design method for continuous systems based on integrators connected in series, in which the second-order ESO estimates the total disturbance, and converts any controlled object into a standard type through the method of total disturbance compensation. On this basis, the differentiator is connected in series, and the controlled object is dynamically converted into 1 through the idea of ​​U model control, eliminating input and output. phase lag between

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