Motor servo system jitter-free sliding mode position control method based on disturbance compensation

A servo system, motor position technology, applied in control using feedback, adaptive control, general control system, etc., can solve the problems of jitter phenomenon, high gain feedback of system modeling uncertainty, etc.

Active Publication Date: 2014-12-24
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0008] The present invention aims to solve the problems of system modeling uncertainty, high-gain feedback in actual use, and the jitter phenomenon in the traditional sliding mode control method

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  • Motor servo system jitter-free sliding mode position control method based on disturbance compensation
  • Motor servo system jitter-free sliding mode position control method based on disturbance compensation
  • Motor servo system jitter-free sliding mode position control method based on disturbance compensation

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Embodiment Construction

[0072] In order to better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

[0073] Combine Figure 1-Figure 3 As shown, according to a preferred embodiment of the present invention, a vibration-free sliding mode position control method for a motor servo system based on disturbance compensation, the specific steps of which are implemented are as follows:

[0074] Step 1. Establish a mathematical model of the motor position servo system

[0075] The existing model-based high-performance control strategy design of motor servo system mostly adopts the second-order kinematics model or the third-order model with first-order electrical dynamics for controller design. Among them, the system control input u and u and The motor output force is linearly proportional, and the third-order model usually takes the original electrical dynamic process into consideration for controller design on the bas...

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Abstract

The invention provides a motor servo system jitter-free sliding mode position control method based on disturbance compensation. According to the method, the nonlinear friction characteristic, external disturbance and other modeling uncertainty of a system are considered, continuous and smooth friction compensation is made for nonlinear friction, and the low-speed servo performance of the motor position servo system is further improved; uncertainty such as non-modeling disturbance is estimated through an extended state observer, feedforward compensation is made when a controller is designed, and the robustness of the actual motor position servo system to external disturbance is improved; jitter and singularity will not be caused to voltage output of the designed terminal sliding mode controller, the controller can guarantee that the state of the system tends to be balanced in a limited time, and the tracking performance of the system is greatly improved; the designed terminal sliding mode controller is simple, has certain robustness to system parameter variation and is more favorable for being applied to engineering practice.

Description

Technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to a vibration-free sliding mode position control method of a motor servo system based on disturbance compensation. Background technique [0002] Motor servo system is widely used in defense, aerospace, civil industry and other fields due to its outstanding advantages such as fast response, high transmission efficiency and convenient maintenance, such as rocket launcher system, aircraft rudder surface actuation, machine tool feed, etc. With the rapid development of these fields, the requirements for the tracking performance of the motor servo system are getting higher and higher, and the performance of the system is closely related to the design of the controller. The motor servo system is a typical uncertain nonlinear system. In the process of designing the controller, it will face many modeling uncertainties, including structural uncertainties (such as parameter...

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Application Information

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IPC IPC(8): G05D3/12G05B13/04
Inventor 杨贵超姚建勇马大为乐贵高胡健朱忠领任杰邓文翔刘龙董振乐
Owner NANJING UNIV OF SCI & TECH
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