Robust self-adaptive dynamic surface control method for adjustable metal cutting system

A technology of dynamic surface control and robust self-adaptation, applied in adaptive control, control/regulation system, general control system, etc.

Inactive Publication Date: 2014-05-14
NORTHEAST DIANLI UNIVERSITY
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Problems solved by technology

Due to the use of dynamic surface or backstepping control, the tracking error of the system eventually converges to a compact set instead of zero, so a challenging problem is how to design the control law to ensure that the system L ∞ performance

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  • Robust self-adaptive dynamic surface control method for adjustable metal cutting system
  • Robust self-adaptive dynamic surface control method for adjustable metal cutting system
  • Robust self-adaptive dynamic surface control method for adjustable metal cutting system

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specific Embodiment

[0201] The mathematical model of the metal cutting system with hysteresis input and delay phenomenon is shown in equations (1) and (2), where the PI hysteresis model is shown in equation (6), and λ=8. The system parameters are m=26kg, c=1.2, k=6800N / m, f(x-μx(t-τ))=0.18sin(x-μx(t-1)), μ=1, h=4500, The purpose of control is to make the system output x 1 = y can track the reference signal y r =0.02 sin(2.5t). The input vector of the neural network is the basis function ψ(ξ 1 ) select 31 nodes, the center point σ j , j=1,...,31, uniformly distributed in [-3,3]×[-3,3]×[-3,3]] and the width is η j =1. is the basis function ψ(ξ 2 ) to select 61 nodes, the center point ζ j , j=1,...,61, uniformly distributed in [-3,3]×[-3,3]×[-3,3], and the width is σ j =1.

[0202] The initial value of the tuning law of each parameter in the system is In addition, the design parameter k 1 =7.5,k 2 = 2, α 2 = 2.5, gamma ζ = 1.5, gamma pr = 3; filter time constant τ 2 =0.15, sma...

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Abstract

A robust self-adaptive dynamic surface control method for an adjustable metal cutting system is characterized by comprising the steps of description of an adjustable metal cutting system mathematical model, a hysteresis model and a neural network system, design of a self-adaptive dynamic surface controller and the like. By means of an introduced error transformation function, control accuracy can be specified at will, so that accurate control over the cutting depth of a cutter is realized; under the condition that a system model is not completely known, approach to unknown terms is realized through an RBF neural network; estimation of the norm of an unknown parameter vector is used for replacing estimation of an unknown parameter ground vector, so that the computation burden of the system is greatly relieved; by the adoption of the strategy that the self-adaptive dynamic surface technology is combined with the error transformation function and an RBF, the hypothesis of time lag is relaxed, it is guaranteed that tracking errors and the transient process can be within any specified index at the same time, the problem of 'differential explosion' of the inverse method is eliminated, semi-global uniform ultimate boundedness of system signals is guaranteed, and the robust self-adaptive dynamic surface control method has the advantages of being scientific and reasonable, high in control accuracy, applicable and the like.

Description

technical field [0001] The invention is a robust self-adaptive dynamic surface control method of an adjustable metal cutting system, which is applied to the control of a precision instrument system with a PI hysteresis model and an unknown time lag. Background technique [0002] With the wide application of ultra-precision machining technology in industry, military, and civilian products, the high precision, high quality, high efficiency, and low cost of the machining process are becoming more and more important. Among them, the hysteresis phenomenon in precision machining equipment is the key to affecting the stability of the system. When there is hysteresis in the system, the entire control system will show oscillation, instability, and reduced accuracy. In addition to hysteresis, time delay issues also appear in areas such as turbojet engines, aircraft systems, etc., thereby reducing control performance. [0003] At present, there are two methods to solve the control pro...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 张秀宇王建国刘翠平孔庆新燕鹏胡石磊
Owner NORTHEAST DIANLI UNIVERSITY
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