A Model-free Integral Sliding Mode Control Method for Ultrasonic Motor Servo System

Abstract

The invention discloses a model-free integral sliding mode control method of an ultrasonic motor servo system. Based on the measured data of the closed-loop system, the system operation control effect is obtained. The design of the controller does not include any mathematical model information of the system, and only uses the controlled system. Online and offline I / O data and knowledge obtained through data processing to design the output of the controller, the output of the controller is sent to the ultrasonic motor driver through the UART interface of the controller, and the ultrasonic motor driver outputs the corresponding SPWM signal to drive the ultrasonic motor run. The design of the model-free integral sliding mode control method of the present invention can achieve the advantages of high steady-state tracking precision, fast dynamic response, strong anti-interference ability, good robustness, little influence by load changes, self-adaptive ability and the like.

Description

technical field [0001] The invention relates to a model-free integral sliding mode control method of an ultrasonic motor servo system, belonging to the technical fields of automation control and motor control. Background technique [0002] Ultrasonic motor technology involves many disciplines such as materials, machinery, power electronics, and production technology. It has complex nonlinearity, and its mechanical structure and working principle are completely different from traditional electromagnetic motors. Motor static mathematical theory models are very difficult. Although some people have tried to propose some mathematical models, there are still many obvious defects, so the traditional control scheme of the ultrasonic motor is not necessarily effective; secondly, the ultrasonic motor uses the inverse piezoelectric effect of the piezoelectric ceramic sheet, the stator and the piezoelectric Electric ceramics generate resonance, and convert electrical energy into mechan...

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Problems solved by technology

Disturbance and model uncertainty observation and its feedforward compensation technology, sliding mode variable structure control technology, and application of adaptive robust control, although the system is insensitive to external disturbances and parameter perturbations, can improve the dynamic stiffness of the motor and suppress the influence of disturbances. Obtain a controller design with good dynamic performance and strong robustness, but it is difficult to achieve full compensation for the nonlinearity of the ultrasonic motor servo system

[0008] 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 method is 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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