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Segment neural network friction model based dual-motor servo system control method

A dual-motor servo, friction model technology, applied in motor generator control, electronic commutation motor control, control system and other directions, can solve the problems that have not been mentioned in the invention.

Active Publication Date: 2015-05-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0006] However, most of these existing methods only study tracking with friction compensation or multi-motor synchronization problems alone, and no inventions have been mentioned that can solve these two problems at the same time.

Method used

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  • Segment neural network friction model based dual-motor servo system control method
  • Segment neural network friction model based dual-motor servo system control method
  • Segment neural network friction model based dual-motor servo system control method

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Embodiment Construction

[0089] The method of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0090] A method for controlling a motor servo system based on a segmented neural network friction model, comprising the following steps:

[0091] Step 1: Analyze the double-motor drive servo system with friction, and establish a mathematical model of the double-motor drive servo system with friction according to the mechanism modeling method, according to the structure of the motor and the laws of physics, as follows:

[0092]

[0093] in,

[0094]

[0095] τ i ( t ) = k ( z i ( t ) - α ( 2 1 ...

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Abstract

The invention relates to a segment neural network friction model based dual-motor servo system control method and belongs to the technical field of electromechanical control. The method includes: firstly, analyzing a dual-motor drive servo system with friction, and establishing a mathematical model of the dual-motor drive servo system with friction according to a mechanism modelling method as well as the structures of motors and the physical law; secondly, analyzing a friction term fi in the mode, and utilizing a segment neural network to establish a friction model of the nonlinear friction fi so as to obtain a segment neural network friction model; thirdly, utilizing a terminal sliding mode control algorithm to acquire a synchronous motor speed control law, and performing synchronous tracking control on the dual-motor servo system according to the control law. By the method, influence on the dual-motor system due to friction can be eliminated, the dual-motor system has better transient performance, tracking response speed of the dual-motor servo system is increased effectively, and fast synchronization of the dual-motor system can be guaranteed.

Description

technical field [0001] The invention relates to a dual-motor friction compensation synchronous tracking control method, which belongs to the technical field of electromechanical control. Background technique [0002] With the rapid development of modern science and technology, it is more and more difficult for a single-motor servo system to meet the needs of high-power systems in terms of power and performance. The method of using multiple motors to jointly drive the load can solve this problem. In multi-motor servo systems, friction nonlinearity leads to many negative effects, such as the Stribeck effect and speed deadband, which seriously affect the tracking accuracy of the servo system at low speeds. This makes it difficult to use traditional controllers to ensure good control results for multi-motor servo systems. How to ensure the high-precision tracking and synchronous control of multi-motor servo systems has become a hot issue. [0003] Friction is an unavoidable pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/00
Inventor 任雪梅张宇赵威李冬伍吕晓华
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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