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Parametrization design method of anti-disturbance composite servo controller

A servo controller, parametric design technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of ADRC closed-loop stability analysis not yet solved, troublesome engineering application, unclear relationship between system performance, etc. problem, to achieve fast and accurate fixed-point tracking, good transient performance and steady-state performance, smooth and accurate servo tracking

Inactive Publication Date: 2014-07-23
FUZHOU UNIVERSITY
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Problems solved by technology

However, there are many parameters in the ADRC control law, and the relationship with the system performance is not clear, which is very troublesome in engineering applications.
In addition, the closed-loop stability analysis of ADRC has not yet solved

Method used

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  • Parametrization design method of anti-disturbance composite servo controller
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  • Parametrization design method of anti-disturbance composite servo controller

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Embodiment Construction

[0037] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0038] The present invention is a parametric design method of an anti-disturbance compound nonlinear servo controller, which is suitable for the second-order servo system described by the following model:

[0039]

[0040] in ;

[0041] x is the system state vector, express x The first derivative with respect to time, are the internal state variables of the system, For the control input signal, is a controlled and measurable system output, is a constant or slowly varying input disturbance, with is a scalar constant, and sat( ) is a saturation limiting function, including the following steps,

[0042] Step (1): Design compound nonlinear control law, including linear feedback control law and nonlinear feedback control law;

[0043] Step (2): Design a reduced-order extended state observer while estimating the unme...

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Abstract

The invention relates to a parametrization design method of an anti-disturbance composite servo controller. The parametrization design method is that damp of a closed loop system pole is dynamically changed to synthesize the quick response performance of a low-damp system and a low-overshoot characteristic of a high-damp system, accordingly quick and stable fixed-point tracking is achieved. The controller consists of a conventional linear feedback control law serving as a first portion and used for ensuring the system stability so as to enable a closed loop system to have high response speed, a non-linear feedback control law serving as a second portion and used for enabling a controlled system to quickly and stably track a set point, and a third portion for merging disturbance and uncertainty factors of the system to form an extension state variable and meanwhile estimating a non-measurement state and unknown disturbance of the system through a reduced order extension state observer and used for state feedback and disturbance compensation. By adopting the method, quick, stable and accurate servo tracking of a target position under various load conditions is achieved.

Description

technical field [0001] The invention relates to a parametric design method of an anti-disturbance compound nonlinear servo controller which can quickly and accurately track a given target and has better performance robustness to system disturbances and parameter differences. Background technique [0002] Domestic and foreign industrial circles and scientific research institutions have done a lot of research work on the control of servo systems. In a high-speed high-precision position or speed servo system, the control system must have fast, stable transient performance and steady-state accuracy, and the transient performance is related to the operating efficiency and safety of the system. A PID-based multi-loop cascade control structure is used in conventional servo systems. PID is characterized by simplicity and ease of use, but it is a single-degree-of-freedom linear control, which is difficult to achieve fast response and low overshoot, and is prone to the so-called inte...

Claims

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Application Information

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IPC IPC(8): G05B13/02
Inventor 程国扬彭萌
Owner FUZHOU UNIVERSITY
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