Self-adaptive controllers and method

Abstract

The invention relates to a self-adaption controller and a method. Concerning about a plurality of uncertain factors of a controlling system in outside world, the invention adopts a self-adaption robustness controlling strategy with high performance. The self-adaption controller comprises that: the output end of a feedforward controller is respectively connected with a position feedback controller, an interference suppressor and a controlled object; one end of the feedforward friction compensation is connected with an input end and the other end is connected with the position feedback controller, the interference suppressor and the controlled object. The self-adaption controlling method comprises that: the self-adaption robustness interference suppressor can online detect and estimate the interference of the system and provide real time compensation; by using a zero phase error tracing method, the feedforward controlling design can realize fine tracing characteristics within limited frequency range. The feedforward friction compensation provides a nonlinear real-time regulation of the friction of the system and improves the whole dynamic performance of the system. The adoption of the self-adaption robustness controller with high performance guarantees the fine dynamic performance of the moving controlled object and fine suppressing ability of outward interference.

Description

technical field [0001] The technical field of adaptive control of the present invention, in particular relates to an adaptive robust controller for external uncertain disturbances. Background technique [0002] The subway screen door system is mainly composed of two parts: fixed door and platform sliding door. The sliding door is the main channel for passengers to get on and off the train, controlled by the platform system and opened and closed synchronously with the subway doors. The advantage of installing screen door system is to ensure the safety of subway operation. The screen door is made of high-strength tempered glass, and the pressure resistance of the door is strengthened through bottom support and top suspension. The screen door needs to resist the impact of 1500 Pascals and the track wind pressure of 2800 Pascals when the subway is running. [0003] In fact, there are many external uncertain factors in the control system of the subway platform screen door, suc...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that the existing door machine controller cannot deal with the external uncertain interference and frictional nonlinearity of the door machine, the purpose of the present invention is to adopt an adaptive robust control method to ensure that the controlled object’s movement is under uncertain interference and frictional nonlinearity. Under normal motion, for this reason, the present invention provides a kind of based on self-adaptive controller and method

Images