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
View PDF0 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are many parameters in the ADRC control law, and the relationship with the system performance is not clear, wh

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Parametrization design method of anti-disturbance composite servo controller
  • Parametrization design method of anti-disturbance composite servo controller
  • Parametrization design method of anti-disturbance composite servo controller

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

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

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

[0039]

[0040] among them ;

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

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

[0043] Step (2): Design a reduced-order extended state observer and estimate the unmeasured state of the system And unknown disturba...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/02
Inventor 程国扬彭萌
Owner FUZHOU UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap