Low speed friction servo system sliding-mode variable structure control method based on grey prediction device

A sliding mode variable structure and servo system technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of weakening the high-frequency chattering of the control signal, and achieve the effect of simplifying the low-speed friction servo system

Inactive Publication Date: 2011-08-10
SHANGHAI UNIV
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Problems solved by technology

②The approach rate method, by adjusting the parameters of the approach rate, can not only ensure the dynamic quality of the sliding mode arrival process, but also weaken the high-frequency chattering of the control signal, but a larger parameter value will cause chattering

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  • Low speed friction servo system sliding-mode variable structure control method based on grey prediction device
  • Low speed friction servo system sliding-mode variable structure control method based on grey prediction device
  • Low speed friction servo system sliding-mode variable structure control method based on grey prediction device

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Embodiment Construction

[0101] A preferred embodiment of the present invention is described below with reference to the drawings: see image 3 with Figure 4 , The sliding mode variable structure control method of low-speed friction servo system based on gray predictor is to use gray control theory to roughly estimate the uncertain part of the servo system and the unknown external disturbance model parameters after the servo system is started. Certain compensation is given to the determined part and external interference, and the gray predictive compensation part and the sliding mode variable structure control part are involved in the control of the servo system, which specifically includes two stages: the first stage, the sliding mode variable structure with exponential approach rate Control the servo system. At the same time, use gray control theory to estimate the uncertain part of the servo system and the unknown external disturbance model parameters; the second stage, after the required number of st...

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Abstract

The invention relates to a sliding mode variable structure control method for a low-speed friction servo system which is based on a gray predictor. The method comprises two stages: the first stage, the sliding mode variable structure control method of the exponential approach rate is adopted to control the servo system, simultaneously, the gray control theory is utilized to estimate the uncertainpart of the servo system and the outside unknown interference model parameter; the second stage, after former steps, based on the control law at the first stage, the gray predicting compensation control quantity can be calculated according to the estimate parameter, and can take part in controlling the servo system along with the control quantity of the fist stage. The control method can guarantee the low-speed friction servo system to also obtain better robust even though the effects of the uncertain part and the outside unknown interference model parameter are considered, so as to reach high precision tracing effect. The control method has the simple and pellucid program, provides a new control strategy for systems which have nonlinear and uncertain control objects as well as outside unknown interference, thereby having certain practical engineering value.

Description

Technical field [0001] The invention relates to a control method of a low-speed friction servo system. Specifically, a sliding mode variable structure control method based on gray predictor is applied in a low-speed friction servo system that takes into account the uncertain part and the influence of unknown external interference. The control method is simple and easy to understand, and is nonlinear and uncertain. The system of the controlled object and the unknown interference from the outside provides a new control strategy, which has certain engineering practical value. Background technique [0002] Complex servo systems have nonlinearity and uncertainty, and there are many factors that are not conducive to the improvement of system performance, especially friction exists in all movements, especially the impact on high-performance servo systems is more prominent. For the servo system, friction is an important factor affecting the low-speed performance of the system. It not on...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 田翠侠邢科礼
Owner SHANGHAI UNIV
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