The invention belongs to but is not limited to the technical field of
motion control, and particularly relates to a high-order all-wheel-drive
system control method and
system of a networked multi-axis
motion system, and the method comprises the steps: S1, analyzing a networked multi-axis
motion system model with time
delay,
system uncertainty and nonlinearity,
noise and external interference, and on the basis of giving a
differential equation of the networked multi-axis
motion system model, carrying out the analysis of the system uncertainty and nonlinearity;
discretization is carried out after the system meets all-drive conditions, and a high-order all-drive
system model is obtained; s2, designing a high-order all-drive system control law, establishing a system
linearization state-space equation, and performing normalization
processing on
system time delay, system uncertainty and nonlinearity and external interference to obtain system lumped interference; and S3, designing an
equivalent input interference estimator based on a filter to realize good
estimation of lumped interference, and further designing a controller with an
interference elimination function to realize that the networked multi-axis motion system with time
delay, system uncertainty and nonlinearity,
noise and external interference has control performance.