Networked servomotor control method based on disturbance observer

Abstract

The invention provides a networked servomotor control method based on a disturbance observer. According to the method, a measuring element acquires the angular displacement and angular velocity of a servomotor and sends the angular displacement and the angular velocity to the disturbance observer and a sliding mode controller through a network, the disturbance observer simultaneously reads historical control quantity values, stored in a control quantity buffer, and estimates a disturbance size and sends the disturbance size to the sliding mode controller, and the sliding mode controller obtains a control voltage signal through solving and sends the control voltage signal to the servomotor through the network so as to form closed-loop network control on the servomotor. The method is applied to a servomotor system with external disturbance, and the networked control is realized through network connection, so that the interoperability, flexibility and the like of the system are improved; through selecting a sliding mode function with historical control input, the network-induced time delay is compensated, and the stability of the system is improved; and through designing the disturbance observer, the disturbance suppression is realized, the buffeting of the system is reduced, and the dynamic performance of the system is improved.

Description

Technical field [0001] The invention relates to a sliding mode control method, which is mainly a discrete sliding mode control method for a networked servo motor system with external interference. Background technique [0002] With the continuous development of computer and network technology, automation technology is gradually developing in the direction of networking and informationization. Network control system (NCS) has emerged at the historic moment, and its application range has become wider and wider, especially in recent years. Aerospace and other fields have received extensive attention. Compared with traditional point-to-point control, the main advantages of NCS are fewer connections, easy resource sharing and remote operation, low cost, and convenient expansion and maintenance. However, information transmission through the network is accompanied by uncertain factors such as delay and packet loss, which increases the difficulty of system analysis and design. [0003] I...

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Problems solved by technology

Although the above literatures have effectively compensated the influence of network delay, they have not considered the influence of unknown disturbances in the system, which limits their practical application. In the literature "Sliding mode controller design for a class of uncertain and Decision Making, 2006,21(10):1197-1200)", a sliding mode control method is designed for the networked control system with uncertainty and external disturbances, the method has no influence on system uncertainties, bounded disturbances and The network-induced delay has good robustness, but the designed method is based on a continuous time system, and in the modeling assumption, the delay from the sensor to the controller is ignored, which has a certain degree of conservatism

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