Self-regulating error symbol integration robust control method for direct-drive motor system

Abstract

The invention discloses a self-regulating error symbol integration robust control method for a direct-drive motor system. The method comprises the steps of establishing a mathematical model of the direct-drive motor system; designing a self-regulating error symbol integration robust controller; carrying out stability certification on the direct-drive motor system by using the Lyapunov stability theory, and acquiring a result of the global asymptotic stability of the system by using the Barbalat lemma. The self-regulating error symbol integration robust control method integrates the idea of self-adaptive control based on a traditional error symbol integration robust control method, and designs a controller gain self-regulating law so as to carry out on-line regulation on an integration robust gain value of the RISE controller. The self-regulating error symbol integration robust control method effectively solves problems of randomness, conservation, limitation and potential high-gain feedback in symbolic function gain regulation of a traditional RISE control method, and acquires better tracking performance.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to a self-adjusting error sign integral robust control method of a direct drive motor system. Background technique [0002] In modern industrial production, many advanced mechanical equipment such as CNC machine tools, semiconductor processing equipment, and microelectronics manufacturing equipment widely use direct drive motor systems to ensure high-speed and high-precision processing. The direct drive motor (such as rotary and linear motor) system eliminates some mechanical transmission problems related to reduction gears, such as backlash, strong inertial loads, and structural flexibility. These nonlinear problems are the main factors affecting system performance. Existence will seriously deteriorate the control performance, so high-precision control performance can be obtained through advanced controller design for direct drive motor systems. However, du...

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Problems solved by technology

However, the discontinuous controller designed by the classical sliding mode control is likely to cause the flutter problem of the sliding mode surface, thereby deteriorating the tracking performance of the system; in order to solve the problem of parameter uncertainty and uncertainty nonlinearity at the same time, the adaptive robust A control method is proposed, which can make the system obtain definite transient and steady-state performance under the condition that the two kinds of modeling uncertainties exist simultaneously. If the high-precision tracking performance is to be obtained, the feedback gain must be increased to reduce the Tracking error, however, excessive feedback gain will increase the bandwidth of the closed-loop system, which may excite the high-frequency dynamics of the system and destabilize the system; the error sign integral robust (RISE) control method can also effectively deal with modeling uncertainties problem, and can obtain continuous control input and asymptotic tracking performance

However, the value of the nonlinear robust gain in the controller designed by this control method needs to meet certain conditions, which are closely related to the upper bounds of the first-order derivative and the second-order derivative of the system modeling uncertainty with respect to time

Therefore, the problem with this control method is that in practical engineering applications, the bounds of the first and second derivatives of system modeling uncertainty with respect to time are difficult to obtain in most cases, so for the error sign function in the integral robust term The value of the gain can only be set as large as possible to obtain good control performance

However, due to the existence of measurement noise, if the gain is too large, it will often lead to high-gain feedback, which will cause chattering of the control input, which will deteriorate the control performance and even cause system instability.

Therefore, it is often necessary to determine a gain value that can avoid control input chattering and ensure certain control performance through trial and error. However, this method of adjusting the gain has certain randomness and conservatism, and is only applicable to a certain For a specific working condition, when the system working condition changes, the adjusted controller gain may not be applicable, so the traditional RISE control method has great engineering limitations

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