Electromechanical servo system friction compensation and variable structure control method based on neural network

A technology of electromechanical servo system and variable structure control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as uncertain parameters and unmeasurable states

Active Publication Date: 2014-12-10
ZHEJIANG UNIV OF TECH
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Problems solved by technology

A neural network-based friction compensation and variable structure control method for electromechanical servo systems is proposed to solve the problems of unmeasurable states and uncertain parameters

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  • Electromechanical servo system friction compensation and variable structure control method based on neural network
  • Electromechanical servo system friction compensation and variable structure control method based on neural network
  • Electromechanical servo system friction compensation and variable structure control method based on neural network

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Embodiment Construction

[0073] Refer to attached Figure 1-6 , a method for friction compensation and variable structure control of electromechanical servo systems based on neural networks, including the following steps:

[0074] Step 1, establish the electromechanical servo system model shown in formula (1), initialize the system state and related control parameters;

[0075] d θ m dt = ω m J d ω m dt = K t ...

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Abstract

The invention discloses an electromechanical servo system friction compensation and variable structure control method based on a neural network. The electromechanical servo system friction compensation and variable structure control method based on the neural network includes steps: building an electromechanical servo system model and a Lugre friction model, and initializing system status and related control parameters; estimating friction force through the neural network, and compensating the friction force into a system. A linear extended state observer is designed and used to estimate non-measurable system status and uncertain items including parameter perturbation and neural network estimation errors. A sliding mode variable structure controller is designed according to the system status and the parameter perturbation which are estimated by the linear extended state observer, and therefore the electromechanical servo system friction compensation and variable structure control method based on the neural network guarantees that system trace errors can rapidly and stably converge to a null point, and achieves rapid and stable control for an electromechanical servo system.

Description

technical field [0001] The invention designs a neural network-based friction compensation and variable structure control method for an electromechanical servo system. Especially the variable structure control method of electromechanical servo system with unmeasurable part state, uncertain parameters and external disturbance. Background technique [0002] Electromechanical servo system (electromechanical servos) is a servo system with electric motor as the power drive component, which is widely used in various fields such as flight control and fire control. However, the friction in the system will affect the control accuracy of the servo system, and even seriously reduce the performance of the electromechanical servo system, and the form of friction is more complicated and difficult to model. Therefore, how to effectively control and eliminate the adverse effects of friction has become one of the key problems to be solved urgently in electromechanical control. [0003] Slid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 陈强李晨航翟双坡
Owner ZHEJIANG UNIV OF TECH
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