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A Control Method of Motor Position Servo System Considering Input Time Delay

A motor position and servo system technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as deteriorating system tracking performance, affecting system high performance and fast response, etc., to improve robustness, improve Fast response performance, the effect of improving servo performance

Active Publication Date: 2016-08-17
NANJING UNIV OF SCI & TECH
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  • Application Information

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Problems solved by technology

However, in fact, when the motor servo control needs to have fast response capability, the electrical dynamics is closer to the time-delay link, so ignoring the input time-lag of the motor servo system will affect the high performance of the system, especially the fast response performance;
[0007] 2. At present, the control of motor servo system is mostly full state feedback control
In addition, the actual motor servo system will be interfered by the external load, if not considered, it will deteriorate the system tracking performance

Method used

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  • A Control Method of Motor Position Servo System Considering Input Time Delay
  • A Control Method of Motor Position Servo System Considering Input Time Delay
  • A Control Method of Motor Position Servo System Considering Input Time Delay

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Embodiment

[0151] The parameters of the motor position servo system considering the input time lag are inertial load parameters: m = 0.02kg; viscous friction coefficient B = 10N m s / °; torque amplification factor k i =6N / V; time delay constant τ=3ms; time-varying external disturbance f(t)=sin t; parameters in the continuous friction model: a 1 = 0.1; a 2 =0.06;c 1 =700;c 2 =15;c 3 = 1.5.

[0152] The position command that the system expects to track is as follows Figure 5 For the point-to-point command (P2P) shown, the maximum speed of the command is 1° / s, and the maximum acceleration of the command is 5° / s 2 .

[0153] Controller parameter selection:

[0154] Output Feedback Robust Controller (OFRC): k 1 =900;k 2 =40;k r = 1; ω 0 =200, PID controller parameter selection: k P =115;k I = 5; k D = 0, the selection steps of the PID controller parameters are: firstly, under the condition of ignoring the nonlinear dynamics of the motor servo system, a set of controller paramete...

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Abstract

The invention discloses a motor position servo system control method taking an input time lag into consideration, and belongs to the field of electro-servo control. The method comprises the following steps: establishing a motor position servo system mathematic model taking the input time lag into consideration; designing an expansion state observer for observing a system state and interference in the mathematic model; designing a non-linear output feedback robustness controller for compensating the input time lag; and carrying out stability analysis on a motor position servo system taking the input time lag into consideration by use of a Liapunov stability theory, and proving that the system obtains half-global consistent and bounded stability. By use of an output feedback control method based on expansion state observer, non-linearity including external interference and the like is estimated through the expansion state observer and is compensated in controller design, such that the actual robustness of the motor position servo system for the external interference is improved, the influence exerted by speed measuring noise on system performance is overcome, and application in actual engineering is facilitated.

Description

technical field [0001] The invention belongs to the technical field of electromechanical servo control, in particular to a control method of a motor position servo system considering input time lag. Background technique [0002] The motor servo system has outstanding advantages such as fast response, convenient maintenance, high transmission efficiency and convenient energy acquisition, and is widely used in various important fields, such as robots, machine tools, aerospace, etc. The performance and stability of the system are closely related to the design of the controller. Uncertain nonlinearities such as external disturbances in the motor servo system that cannot be accurately modeled may make the controller designed by the nominal model of the system unstable or degraded. And with the rapid development of the modern control engineering field, the performance requirements of the control system are getting higher and higher. In practical engineering applications, enginee...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 邓文翔姚建勇马大为乐贵高朱忠领胡健任杰杨贵超董振乐徐张宝
Owner NANJING UNIV OF SCI & TECH
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