Fuzzy variable structure control method for electromechanical servo
A technology of variable structure control and electromechanical servo, which is applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as fundamentally eliminating chattering phenomena, weakening system chattering, and large amount of calculations. Achieve the effect of eliminating system chattering, weakening high-frequency oscillation, and ensuring rapidity
Inactive Publication Date: 2015-04-29
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
View PDF3 Cites 2 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Chattering problem has been hindering the practical application of variable structure control
[0006] The high-order sliding mode is to decompose the system into a low-order linear subsystem about the switching variable and its warning derivative and a low-order nonlinear subsystem about the sliding film through appropriate input and nonlinear state changes. The higher the sliding order , the chattering phenomenon of the system becomes weaker. Compared with the traditional sliding mode variable structure control, the high-order sliding mode does have an obvious effect in reducing system chattering, but it has a large amount of calculation and is difficult to control in real time. It is used in the system, and the chattering phenomenon cannot be eliminated fundamentally, so it is not suitable for the position servo system with high control precision requirements
The soft sgn(s) function control has a high gain, which is good for suppressing chattering, but it is difficult to implement
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0032] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.
[0033] First, establish the mathematical model of the electromechanical servo mechanism of the controlled object, establish the model of the servo motor and the transmission mechanism, and simplify it according to the requirements. The electromechanical servo mechanism is driven by a permanent magnet synchronous servo motor, and the ball screw / gear is used as the reduction transmission mechanism.
[0034] Such as figure 1 As shown, a fuzzy variable structure control method for electromechanical servo mechanism, including the following steps:
[0035] (1) Establish a mathematical model of electromechanical servo mechanism
[0036] According to the common DC motor modeling method in the prior art, the model of the permanent magnet synchronous servo motor is simplified, and the load is considered as an inertial load.
[0037] built as attached ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
A fuzzy variable structure control method for an electromechanical servo comprises the following steps: (1) establishing a mathematical model of the electromechanical servo; (2) defining variable structure switching functions, and fuzzifying the variable structure switching functions; (3) calculating switching points; (4) judging whether to enter a deceleration stage; (5) calculating the deceleration rate Rdv. The control method can eliminate buffeting of an electromechanical servo control system effectively, and has favorable location tracking precision and response speediness.
Description
technical field [0001] The invention relates to a control method of an electromechanical servo mechanism, in particular to a fuzzy variable structure control method for an electromechanical servo mechanism. Background technique [0002] With the development of magnetic materials, power electronic devices and digital processor technology, the combination of high-performance servo motors and modern control technology has enabled the rapid development of electromechanical servo technology and has been widely used in the field of aerospace servo control. Permanent magnet synchronous motor (PMSM) plays an increasingly important role in current servo control due to its small size, simple structure, large output torque, and high efficiency. However, since PMSM is a complex system with multiple variables, strong coupling, nonlinearity, and variable parameters, in practical applications, uncertain factors such as parameter perturbation and load disturbance will affect the dynamic and...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 丁伟涛朱成林李建明黄玉平赵国平徐祯祥
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS