Position servo system and method

A servo system and multiplier technology, applied in the field of neural network adaptive control, can solve the problems of low control precision, unsuitable for high-precision control, poor adaptability, etc., achieve high control precision, convenient design work, and improve robustness Effect

Inactive Publication Date: 2009-11-04
BEIHANG UNIV
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  • Abstract
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Problems solved by technology

However, this traditional control method has poor adaptability, and the control accuracy is low when the system is disturbed, so it is not suitable for high-precision control occasions.

Method used

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  • Position servo system and method
  • Position servo system and method

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Experimental program
Comparison scheme
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Embodiment

[0099] The parameters in each module in the present embodiment are respectively: a m =150,b m = 1000, gamma 11 = 5, gamma 12 = 5, gamma 2 = 1,K p =1. Position command θ d It is a sinusoidal signal with an amplitude of 0.5° and a frequency of 3 Hz.

[0100] Figure 7 , Figure 8 The experimental graphs of position error before and after adopting the present invention are given.

[0101] Figure 7 For not adopting the position tracking error curve of the present invention, the abscissa is time t (unit: s), and the ordinate is position error e θ (unit: degree).

[0102] Figure 8 For adopting position tracking error curve of the present invention, abscissa is time t (unit: s), and ordinate is position error e θ (unit: degree).

[0103] by comparison Figure 7 , Figure 8 It can be seen that the position error of the system after adopting the present invention is less than half of the position error of the system without adopting the present invention. The present...

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Abstract

The invention provides a neural network self-adaptive control method applied to a servo system, aiming to improve the control accuracy of the servo system. The neural network self-adaptive control method realizes nonlinear compensation and interference suppression to the servo system and improves the tracking accuracy of the servo system. The servo system mainly comprises a reference model, a self-adaptive controller and a neural network controller. In addition, based on a speed ring accurate reference model, a position ring controller is very simple in design so that the whole system is rather convenient in design, thereby being easy to carry out in engineering.

Description

technical field [0001] The invention relates to a neural network adaptive control method applied to a servo system, which is used for high-precision control of the servo system. technical background [0002] The servo system is a complex electromechanical control system, and its essence can be regarded as a position closed-loop control system driven by a motor, which plays an important role in national production and national defense construction. Because it occupies a very important position in various fields, the requirements for its performance are constantly increasing, especially in cutting-edge fields such as national defense, military and aerospace. It can be seen from the general development trend of servo systems at home and abroad that "high response, ultra-low speed, and high precision" are its main development directions. Among them, "high frequency response" reflects the ability of the servo system to track high-frequency signals, that is, the system's tracking...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02G05B11/32G05B11/40G05D3/12
Inventor 扈宏杰赵博李德地
Owner BEIHANG UNIV
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