Robustness adaptive control (RAC) method of direct driving motor system

A robust self-adaptive, direct-drive motor technology, applied in motor-generator control, electronically commutated motor control, control systems, etc., can solve parameter uncertainty, uncertainty nonlinearity, high-frequency dynamic system instability and other problems to achieve the effect of enhancing robustness

Active Publication Date: 2015-02-04
NANJING UNIV OF SCI & TECH
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Problems solved by technology

But in this way, the steady-state performance of asymptotic tracking is lost, and only a bounded tracking error can be obtained; in order to solve the problem of parameter uncertainty and uncertainty nonlinearity at the same time, the adaptive robust control (ARC) method is adopted It is proposed that the control method can make the system obtain definite transient and steady-state performance under the condition that two kinds of modeling uncertainties exist at the same time. If the high-precision tracking performance is to be obtained, the tracking error must be reduced by increasing the feedback gain. 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

Method used

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  • Robustness adaptive control (RAC) method of direct driving motor system
  • Robustness adaptive control (RAC) method of direct driving motor system
  • Robustness adaptive control (RAC) method of direct driving motor system

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Experimental program
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Embodiment

[0107] Combine below Figure 3-Figure 12 , to give an exemplary description of the implementation of the above embodiment.

[0108] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the direct drive motor system:

[0109] Inertia load parameter m=0.02kg·m 2 ; Viscous friction coefficient B = 10N m s / rad; torque amplification factor k i =5N·m / V; system unmodeled interference f(t)=1+2sint.

[0110] Consider two different scenarios:

[0111]1. The desired instruction for a given system is x 1d =sin(t)[1-exp(-0.01t 3 )] (rad).

[0112] Take the following controller for comparison:

[0113] Robust adaptive (RAC) controller: take the controller parameter k 1 =500,k 2 =50,k s2 =1,δ d = 150, θ min =[100,1,-500] T ,θ max =[700,900,500] T , θ ^ ( 0 ) = [ 580,290,0 ...

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Abstract

The invention discloses a robustness self-adaptive control (RAC) method of a direct driving motor system. Based on a conventional adaptive control (AC) method, through designing a nonlinear robustness control law, parameter estimation of the system is enabled to be unaffected and the system can obtain an asymptotic tracking property under the condition that parameter uncertainty and uncertain nonlinearity exist simultaneously. The RAC method of the direct driving motor system can enhance the robustness of conventional AC for the uncertain nonlinearity such as external load interference and the like so as to obtain better tracking performance.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, and mainly relates to a robust adaptive control method for 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, due to the lack of red...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/00
Inventor 邓文翔姚建勇
Owner NANJING UNIV OF SCI & TECH
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