A preset performance tracking control method for motor servo system with hysteresis compensation

A servo system and preset performance technology, applied in the field of control, can solve the problems of not considering hysteresis nonlinearity, insufficient design, phase lag, etc., and achieve the effects of good parameter estimation, good robustness and bounded stability, and reasonable planning.

CN104570733BActive Publication Date: 2017-05-17NANJING UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2017-05-17

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Abstract

The invention provides a method for tracking control of preset performance in a magnetic hysteresis compensation-containing motor servo system. The control method comprises the following steps: 1, establishing a magnetic hysteresis-containing motor servo system model; 2, designing a magnetic hysteresis compensation-containing preset performance tracking control method; 3, designing system parameters to meet the minimum system tracking error. According to the method, a motor servo system is used as a study object, the system parameter uncertainty, the nonlinear frictional characteristic, the unmodeled outside interference and the magnetic hysteresis nonlinearity are considered, an excellent tracking controller is designed, a magnetic hysteresis model containing linear items and bounded interference items is established, and the controller is conveniently designed; aiming at the system parameter uncertainty and the unmodeled interference items, relatively good parameter estimation and robust bounded stabilization are achieved by an adaptive robust control method.
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Description

technical field

[0001] The invention relates to a control method, in particular to a motor servo system preset performance tracking control method including hysteresis compensation. Background technique

[0002] The motor servo system has outstanding advantages such as fast response speed, good acceleration performance, convenient maintenance, and convenient energy acquisition. It has been widely used in industrial fields, such as turntables, industrial manipulators, and electric vehicles. With the vigorous development of related fields, the performance indicators of engineering design are becoming more and more demanding, and the demand for new controllers of motor servo systems has become urgent. However, there are many model uncertainties in the motor servo system, including parameter uncertainties (such as load force, friction characteristic parameters that change with temperature and wear, etc.) and uncertain nonlinearities (such as nonlinear friction, nonlinear hystere...

Examples

Embodiment Construction

[0055] combine figure 1 , figure 2 with Figure 8 , a motor servo system preset performance tracking control method with hysteresis compensation, comprising the following steps:

[0056] Step 1, establish a motor servo system model with hysteresis, the specific method is as follows:

[0057] The hysteresis model is established as follows:

[0058]

[0059] In formula (1), u is the hysteresis model output, that is, the effective control input, c, a and B 1 is the hysteresis characteristic parameter, and satisfies c>B 1 , v is the output control quantity of the controller. Formula (1) can be transformed into:

[0060] u=cv(t)+d(v)

[0061]

[0062] u in formula (2) 0 and v 0 Indicates the initial value. Analyzing formula (2), we can see that the hysteresis model after conversion is composed of a linear term with a slope of c and an interference term d(v), and the boundary of the d(v) term is known.

[0063] Step 1.1, establish a motor servo system model with h...