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Output feedback trajectory tracking control method with predetermined performance and dead zone input constraint for electromechanical system

An electromechanical system and output feedback technology, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve the problems of difficult measurement of system state, system transient performance, etc., to solve the system state Effects of unknown and system transient, trajectory tracking, fast convergence rate

Inactive Publication Date: 2021-12-03
QUFU NORMAL UNIV
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Problems solved by technology

[0003] The technical problem of the present invention is: for electromechanical systems with predetermined performance control and dead zone input constraints, an adaptive output feedback trajectory tracking control strategy is proposed, which solves the problems of difficult measurement of system state and dead zone input factors, and ensures Improve the stability of the electromechanical control system, and has good transient performance and steady-state performance
This method effectively solves the problem that the system state is not easy to measure and the transient performance of the system, and accurately realizes the trajectory tracking, which is suitable for the output feedback trajectory tracking control of the electromechanical system

Method used

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  • Output feedback trajectory tracking control method with predetermined performance and dead zone input constraint for electromechanical system
  • Output feedback trajectory tracking control method with predetermined performance and dead zone input constraint for electromechanical system
  • Output feedback trajectory tracking control method with predetermined performance and dead zone input constraint for electromechanical system

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Embodiment Construction

[0124] Such as figure 1 Shown, the concrete steps of the present invention are as follows:

[0125] The first step is to establish a physical model of the electromechanical system with a dead zone input, linearize the dead zone model, and give a reference tracking trajectory.

[0126]

[0127] Among them, q, Respectively expressed as the motor angular position, angular velocity, angular acceleration. I represents the motor current, V 0 Indicates the input voltage. N=mG0 g / (2K τ )+W 0 G 0 g / K τ , B=B 0 / K τ . The parameters in the electromechanical system model are shown in Table 1. in, and is bounded, its supremum satisfies Obtained from (2), (3), the model can be transformed into

[0128] u=Π(υ(t))=H T (t)γ(t)υ(t)+d(υ(t))=F(t)υ(t)+d(υ(t)) (4) Introduce state variable x 1 ,x 2 ,x 3 , so that x 1 =q is the angular position of the motor, is the motor angular velocity, x 3 = I is the motor current, the system (1) can be transformed into

[0129] ...

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Abstract

The invention discloses an output feedback trajectory tracking control method with predetermined performance and dead zone input constraints for an electromechanical system. The method comprises the following steps: firstly, establishing an electromechanical system model containing dead zone input, carrying out linear processing on a dead zone model, and giving a reference tracking trajectory; secondly, defining a tracking error, introducing a predetermined performance function, and converting an original system into a system with predetermined performance constraints; in order to solve the problem that the angular position, the angular speed and the motor current in the electromechanical system are not easy to measure or the measurement precision is not high, designing a neural network state observer to estimate the state of the electromechanical system; and finally, solving the problem of complexity explosion in the traditional backstepping method by adopting a command filter technology, and constructing adaptive output feedback control in combination with an adaptive backstepping method and a neural network state observer under predetermined performance control and dead zone input constraints. The method effectively improves the transient and steady-state performance of a system with an unknown state, accurately realizes trajectory tracking, and is suitable for electromechanical system control with accurate positioning.

Description

technical field [0001] The invention designs an output feedback trajectory tracking control method for electromechanical systems with predetermined performance and dead zone input constraints, which is mainly used in the output feedback trajectory tracking control of electromechanical systems and belongs to the technical field of automatic control. Background technique [0002] In recent years, electromechanical control systems have been widely used in industrial production, especially motor control. Industrial electromechanical control generally consists of a current loop, a speed loop, a position loop, and three closed-loop control structures. People can set the internal parameters of the system according to production needs so as to realize the position control, speed control and torque control of the electromechanical system to obtain the desired performance. In traditional control, PID algorithm has been widely used, but it cannot effectively deal with uncertain inform...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 宗广灯王玉迪褚晓广孙海滨杨东齐文海
Owner QUFU NORMAL UNIV
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