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Jitter-free sliding mode position control method for motor servo system based on disturbance compensation

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

Active Publication Date: 2017-06-27
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 that are often ignored in the motor servo system control in the prior art, and proposes a Jitter-free sliding mode position control method for motor servo system based on disturbance compensation

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  • Jitter-free sliding mode position control method for motor servo system based on disturbance compensation
  • Jitter-free sliding mode position control method for motor servo system based on disturbance compensation
  • Jitter-free sliding mode position control method for motor servo system based on disturbance compensation

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Embodiment Construction

[0071] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0072] combine Figure 1-Figure 3 As shown, according to a preferred embodiment of the present invention, a vibration-free sliding mode position control method of a motor servo system based on disturbance compensation, the specific steps for its realization are as follows:

[0073] Step 1. Establish the mathematical model of the motor position servo system

[0074] Most of the existing model-based high-performance control strategy designs for motor servo systems use second-order kinematics models or third-order models with first-order electrical dynamics for controller design, in which the system control input u and The output force of the motor is linearly proportional, and the third-order model usually considers the dynamic process of the original electricity on the basis of the second-order mod...

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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 for a motor servo system based on disturbance compensation. Background technique [0002] Due to the outstanding advantages of fast response, high transmission efficiency and convenient maintenance, the motor servo system is widely used in national defense, aerospace, civil industry and other fields, such as rocket launcher servo 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 uncertainti...

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Application Information

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Patent Type & Authority Patents(China)
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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