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Servo system self-adaptive robust controller with dynamic frictional compensation

An adaptive robust and dynamic friction technology, applied in the field of robust control, can solve the problems of difficult to accurately compensate the friction force of the motor servo system, difficult to describe the friction characteristics of the friction model, and unable to guarantee the control performance of the system.

Active Publication Date: 2010-09-29
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the actual friction has more complex nonlinear characteristics and dynamic 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.

Method used

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  • Servo system self-adaptive robust controller with dynamic frictional compensation
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  • Servo system self-adaptive robust controller with dynamic frictional compensation

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Embodiment Construction

[0038] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0039] The invention provides an adaptive dynamic friction compensation scheme for a motor servo system, the basic idea of ​​which is: using a friction model approximator constructed by the Lipschitz coefficient of the LuGre dynamic friction model, and through a robust adaptive law, according to the system output error Adjust the parameters of the friction approximator to make the parameters converge to the optimal value. The dynamic friction compensator compensates the friction according to the estimated value of the parameters, suppresses the adverse effect of the friction on the output tracking accuracy and response speed of the motor servo system, and improves the control performance of the motor servo system.

[0040] figure 1 It is a structural schematic diagram of an adaptive robust controller for a servo system with dynamic friction compensation i...

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Abstract

The invention discloses a servo system self-adaptive robust controller with dynamic frictional compensation, which is used for improving output tracking precision and fast response of a motor servo system and is particularly suitable for a precise motor servo system with requirements on high precision and fast response. The servo system self-adaptive robust controller comprises a parameter self-adaptive adjusting module, a dynamic frictional compensator and a robust control module. The online estimation of a frictional force value is realized by adopting a frictional model approximator constructed by a LuGre dynamic frictional model Lipschitz coefficient through self-adaptive adjustment of a parameter of the frictional approximator, and accordingly, the frictional compensation is carried out for overcoming the adverse effect of frictional force on the output tracking precision and the fast response of the servo system. The controller adopts a robust control law and ensures that the servo system has enough disturbance resistance. Because the controller can realize rapid and accurate frictional compensation and effectively inhibit the influence of external disturbance, the output tracking precision and the fast response of the servo system can be greatly improved.

Description

technical field [0001] The invention relates to the technical field of robust control, in particular to an adaptive robust controller for a servo system with dynamic friction compensation. 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 disturbance on the system. [0003] In order to eliminate the influence of friction and disturbance on the performance of the motor, Teeter J T et al....

Claims

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Application Information

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IPC IPC(8): G05B13/02
Inventor 陈杰甘明刚张国柱
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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