Method for controlling position of self-adaptive robust of motor servo system based on extended state observer

An adaptive robust, servo system technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of model uncertainty, jitter high-gain feedback, etc., to achieve good robustness, control Output smooth and continuous effect

Active Publication Date: 2014-12-31
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0008] In order to solve the neglected model uncertainty in the existing motor servo system control, the control method based on the traditional sliding mode has the phenomenon of jitter, and the general adaptive robust controller based on the general adaptive robus

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  • Method for controlling position of self-adaptive robust of motor servo system based on extended state observer
  • Method for controlling position of self-adaptive robust of motor servo system based on extended state observer
  • Method for controlling position of self-adaptive robust of motor servo system based on extended state observer

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[0031] In order to better understand the technical content of the present invention, specific embodiments are described as follows with the accompanying drawings.

[0032] Such as figure 1 , figure 2 As shown, according to a preferred embodiment of the present invention, an adaptive robust position control method for a motor servo system based on an extended state observer is characterized in that it includes the following steps:

[0033] Step 1. Establish a mathematical model of the motor servo system;

[0034] Step 2. Configure the adaptive law to estimate the uncertainty parameters in the motor servo system;

[0035] Step 3. Configure the extended state observer to estimate the uncertainty of the motor servo system;

[0036] Step 4. Configure an adaptive robust position controller for the motor servo system based on the extended state observer; and

[0037] Step 5. Determine the relevant parameters and functions in the motor servo system so that the position output of the motor servo...

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Abstract

The invention provides a method for controlling the position of a self-adaptive robust of a motor servo system based on an extended state observer. The method comprises the steps of 1, establishing a mathematic model of the motor servo system; 2, configuring an adaptive law to estimate the uncertain parameters in the motor servo system; 3, configuring the extended state observer to estimate the uncertainty of the motor servo system; 4, configuring a position controller of the self-adaptive robust of the motor servo system based on the extended state observer; 5, determining relevant parameters and functions in the motor servo system to enable the position output of the motor servo system to accurately and progressively track the expected position command, and enabling the input of the motor servo system to not have the chattering phenomenon. The invention also relates to a system for controlling the position of the self-adaptive robust of the motor servo system based on the extended state observer.

Description

Technical field [0001] The invention relates to the field of motor servo control, in particular to an adaptive robust position control method and system for a motor servo system based on an extended state observer. Background technique [0002] Motor servo systems are widely used in many important fields, such as machine tool feeds, robots, rocket launchers, etc., due to their fast response, high transmission efficiency and convenient maintenance. At present, the control method based on the classic three loops (current loop, speed loop and position loop) is still the main method in industry and other fields. However, with the rapid development of these fields, the traditional three loop control method based on linear theory has gradually Can not meet the high performance requirements of the system, need to study more advanced control methods. There are many model uncertainties in the motor servo system. These model uncertainties include parameter uncertainties and uncertain nonl...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 姚建勇杨贵超
Owner NANJING UNIV OF SCI & TECH
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