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Backstepping-sliding mode controller and control method for precision control of multi-axis linkage system

A system controller and multi-axis linkage technology, which is applied in simulators, general control systems, control/regulation systems, etc., can solve the problems of low stability of control methods and low tracking accuracy

Active Publication Date: 2016-09-21
SHAANXI UNIV OF SCI & TECH
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the defects of low tracking accuracy and low stability of the control method in the dynamic control of the current multi-axis linkage system, and propose a backstepping-sliding system for the precision control of the multi-axis linkage system mounted on the floating platform. Modular controllers and control methods, so as to provide control methods and controllers for nonlinear dynamical systems with such characteristics and topological structures

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  • Backstepping-sliding mode controller and control method for precision control of multi-axis linkage system
  • Backstepping-sliding mode controller and control method for precision control of multi-axis linkage system
  • Backstepping-sliding mode controller and control method for precision control of multi-axis linkage system

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Embodiment Construction

[0048] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0049] see Figure 1 to Figure 2 , the present invention comprises the following steps:

[0050] Step 1: Establish an electromechanical coupling dynamics model of the multi-axis linkage system based on the Lagrange-Maxwell dynamics method;

[0051] The electromechanical coupling dynamic model of the multi-axis linkage system is:

[0052] A 1 θ · · 1 + B 1 θ · 1 θ · 2 ...

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Abstract

The invention discloses a backstepping-sliding mode control unit and method for controlling precision of a multi-axis linkage system and aims to control nonlinear characteristics of the multi-axis linkage system carried on a floating platform. The method is mainly technically characterized in that an electromechanical coupling dynamical model of the multi-axis linkage system is established based on Lagrange-Maxwell dynamics; according to the dynamical behavior requirements of the multi-axis linkage system carried on the floating platform under specific dynamical conditions, the method for an MIMO (multiple input multiple output) system is provided; the control unit of the multi-axis linkage system carried on the floating platform is designed, and performance simulation is performed. The method has the advantages that a new concept of dynamical performance design for the multi-axis linkage system in the non-typical dynamical environment is provided, control robustness is good, hardware implementation is easy and the method has engineering value.

Description

technical field [0001] The invention belongs to the technical field of multi-axis linkage system control, and relates to a backstep-sliding mode control, in particular to a backstep-sliding mode controller and a control method for precision control of a multi-axis linkage system. Background technique [0002] The multi-axis tracking system is a typical multi-rotor system. It is usually installed on a floating carrier. It is one of the effective means for disaster prediction, meteorological observation and environmental monitoring. The study of the dynamic characteristics of the multi-axis tracking system applied in special environments has Significance. This is because, on the one hand, the kinematic coupling and dynamic coupling between multiple axes in the system operation will affect the dynamic characteristics and pointing accuracy of the system; Uncertain factors such as balance will greatly affect the accuracy of the system. [0003] There are usually two ways to sol...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
Inventor 赵志明
Owner SHAANXI UNIV OF SCI & TECH
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