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Turntable servo system self-adaptive identification method based on identification error limitation

A self-adaptive identification and servo system technology, applied in the field of nonlinear system identification, can solve the problems of not considering the impact and poor transient performance of the identification algorithm, so as to avoid violent fluctuations and improve the performance of parameter identification

Pending Publication Date: 2020-08-07
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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Problems solved by technology

[0006] There are several technical problems that need to be solved urgently in the existing servo system identification methods: (1) The traditional parameter adaptive law is designed based on the prediction error method or observation error, and does not consider the influence of other error information on the estimator; ( 2) The transient performance of the existing identification algorithm is poor; (3) The specified performance technology is mainly used in tracking control, how to introduce it into the field of system identification is a difficult problem

Method used

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  • Turntable servo system self-adaptive identification method based on identification error limitation
  • Turntable servo system self-adaptive identification method based on identification error limitation
  • Turntable servo system self-adaptive identification method based on identification error limitation

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Embodiment 1

[0083] Embodiment 1: An adaptive identification method for a turntable servo system based on identification error limitation, which specifically includes the following steps:

[0084] Step 1, establish the dynamic model of the turntable servo system

[0085] The turntable servo system is an automatic control system that coordinates multiple components with different characteristics to complete a given goal. The components include drive motors, transmission components and loads. The drive system is driven by the transmission components, so that the system position or speed can accurately track the reference signal , according to its structural composition and first-principle modeling principles, the dynamic equation of the turntable servo system is:

[0086]

[0087] In the formula, q, Describe the displacement and speed of the motor respectively, and J describe the inertia kg / m of the motor 2 ,T f , T l , T m describe the friction, payload and torque respectively, R ...

Embodiment 2

[0141] Embodiment 2: This embodiment is a specific example. The adaptive identification method of the turntable servo system based on the identification error limitation described in Embodiment 1 is used to perform parameter identification on the system parameters, and the obtained model is verified and predicted based on the sinusoidal reference signal. Effect; the designed adaptive filter adjusts the filtering effect in real time according to the difference of the filtered signal, effectively eliminating the adverse effects of noise; the adaptive attenuation factor forgets the old data in real time, avoiding the problem of data flooding; design based on parameter identification error information The parameter adaptive law reduces the running time of the algorithm and improves the efficiency; based on the error limited technology, constraints are imposed on the identification error to improve the transient performance of the parameter identification.

[0142] The identificatio...

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Abstract

The invention discloses a turntable servo system identification method based on an identification error limitation technology. The method comprises the steps: acquiring a dynamic identification modelof the motor servo system by using a discretization method; acquiring a regression identification model of a servo system according to a discretization method, providing a self-adaptive filter designed based on filtering variable difference information, denoising collected system data, establishing a variable gain attenuation factor to improve the data saturation phenomenon, and designing an intermediate variable and a filtering variable to construct identification error information; applying a constraint condition to the identification error by using a specified performance technology, so theidentification error is limited in a certain interval, and excessive overshoot is avoided; an error conversion technology is adopted to convert a constrained identification error problem into a general identification error design problem, and transient performance realization is ensured based on identification error information and an improved correction gain design parameter adaptive law. Finally, the effectiveness and the usefulness of a turntable servo system identification method based on the identification error limitation technology are verified by utilizing an actual experiment platform.

Description

technical field [0001] The invention relates to an adaptive identification method for a turntable servo system based on identification error limitation, and belongs to the technical field of nonlinear system identification. Background technique [0002] With the rapid development of science and technology, the control accuracy requirements of servo motor systems in the field of industrial processes are increasing. But these are inseparable from the modeling of the controlled object, which makes the system identification technology more and more important. The servo system is composed of many different components. The gear links produce non-smooth and non-smooth nonlinearities such as gaps and friction. During the control process, these nonlinearities degrade the control accuracy of the system, and even cause the system to fail to operate effectively. Therefore, improving the control precision of the servo system has always been favored by scholars and engineers. In view of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06F17/11
CPCG06F30/20G06F17/11G06F2119/14G06F2111/10Y02P90/02
Inventor 李林伟张焕龙张杰王凤仙刘小梅栗三一
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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