Control method based on fuzzy variable sliding model surface tracking differentiator

Abstract

The invention relates to a control method based on a fuzzy variable sliding model surface tracking differentiator. The input of the fuzzy variable sliding model surface tracking differentiator is a speed signal of a controlled object; the output of the fuzzy variable sliding model surface tracking differentiator is a tracking reproduction input control signal and the derivative of the tracking reproduction input control signal; the error is equal to the difference between the tracking reproduction input control signal and an input control signal, and comprises seven fuzzy sets. The control method comprises the following steps: calculating the membership of the error corresponding to the seven fuzzy sets; calculating a control rule on each control fuzzy set corresponding to the error according to the obtained error membership vi on each error fuzzy set; calculating the output of the fuzzy variable sliding model surface tracking differentiator; performing proportional control on the difference between the speed output by the differentiator and the feedback speed of the controlled object; performing derivative control on the difference between the acceleration output by the differentiator and the feedback acceleration of the controlled object; controlling the controlled object after the speed difference which is subjected to the proportional control is added to the acceleration difference which is subjected to the derivative control.

Description

technical field [0001] The invention relates to a drive control method for the starting process of a coaxial transmission printing machine. Background technique [0002] During the start-up process of the coaxial transmission printing machine, due to the long-axis connection, the long transmission distance between the shafts, the low stiffness of the system, the heavy load and many other factors, the torsional vibration will occur during the start-up. The torsional vibration phenomenon is not only It affects the steady-state time of the start-up process, and it will also bring a great impact to the transmission shaft, thereby affecting the service life of the printing press. The traditional PID controller often arouses system oscillation during the startup process of the printing press system. The main reason is that the startup signal is mostly a step signal. Since the step signal is an attenuated broad-spectrum signal, it is rich in frequencies in many spectral bands. When...

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Problems solved by technology

Secondly, the traditional PID controller will calculate the derivative of the error between the given signal and the feedback signal. During the derivation process, when the sampling time is very short, calculation noise will be introduced to make the system oscillate.

In view of the above problems, the method of adding a low-pass filter at the input end of the system is mainly used in production to suppress high-frequency signals. However, low-order low-pass filters cannot attenuate high-frequency signals quickly, but high-order filters The main problem of the filter is that the algorithm is too complex, and the improper selection of parameters will cause the filter itself to not converge, causing the signal to oscillate or even diverge

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