Servo system controller with self-adapting fuzzy frictional compensation

Abstract

The invention discloses a servo system controller with self-adaptive fuzzy friction compensation. The servo system controller is used for improving the output tracking precision and fast response of a motor servo system, and is particularly applicable to a precision motor servo system which requires high precision and fast response. The invention comprises a parameter self-adaptive adjustment module, a fuzzy friction compensator and a robust control module. By adopting a fuzzy model to approximate a friction force model, the online assessment of the friction force value is realized by a self-adaptive adjustment of the fuzzy model parameters, and then a friction compensation is carried out so as to eliminate the adverse effects of the friction force on the output tracking precision and fast response of the servo system; and the adjustment of the fuzzy model parameters adopts a composite self-adaptive law and simultaneously uses the information relative to the system output error and the parameter evaluation error for carrying out the parameter adjustment so as to improve the parameter convergence speed. As the controller can realize fast and accurate friction model evaluation and friction compensation, the output tracking precision and fast response of the servo system can be greatly improved.

Description

technical field [0001] The invention relates to a servo system controller with self-adaptive fuzzy friction compensation, which is used to improve the output tracking accuracy and quick response of the motor servo system, and is especially suitable for the precision motor servo system requiring high precision and fast response. Background technique [0002] For a servo system with contact motion, friction is an important factor affecting its accuracy and response speed. Due to the influence of friction, the output speed of the servo system is often unstable when it is moving at a low speed, and even stagnation occurs. Another important factor affecting the servo system is the external disturbance. Under the action of disturbance, the accuracy of the servo system will decrease. Therefore, in order to improve the accuracy and rapidity of the servo system, its controller must not only realize the compensation of friction, but also overcome the influence of external disturbanc...

AI Technical Summary

Problems solved by technology

However, the actual friction has more complex nonlinear characteristics, and it is difficult to describe the real friction characteristics by using a simplified friction model, so it is difficult to achieve accurate compensation for the friction force of the motor servo system

In addition, general servo system controllers cannot guarantee the control performance of the system in the presence of bounded disturbances

Therefore, the current servo system controllers often cannot meet the high precision and fast response requirements of the servo system.

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