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Servo system linear feedback control and pole assignment parameter determination method based on extended state observer

A pole configuration method and a technology of expansion state, which is applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2015-06-24
ZHEJIANG UNIV OF TECH
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Problems solved by technology

But so far, there is no efficient way to determine the parameters of the extended state observer

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  • Servo system linear feedback control and pole assignment parameter determination method based on extended state observer
  • Servo system linear feedback control and pole assignment parameter determination method based on extended state observer
  • Servo system linear feedback control and pole assignment parameter determination method based on extended state observer

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Embodiment Construction

[0052] The present invention will be further described below in conjunction with the accompanying drawings.

[0053] refer to Figure 1-Figure 6 , a servo system linear feedback control and pole configuration parameter determination method based on an extended state observer, including the following steps

[0054] Step 1, establish the servo system model shown in formula (1), initialize the system state and control parameters;

[0055]

[0056] Among them, θ m , are the state variables, representing the position and speed of the motor output shaft respectively; J and D are the equivalent moment of inertia and equivalent damping coefficient converted to the motor shaft; K t is the motor torque constant; u is the control quantity; T is the load friction torque converted to the motor shaft and the disturbance part of friction;

[0057] Step 2, merging the existing friction and external disturbance in the system as the expansion state of the system;

[0058] 2.1, let x 1...

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Abstract

Provided is a servo system linear feedback control and pole assignment parameter determination method based on an extended state observer. The method comprises the steps that a servo system model is built and the system state and controller parameters are initialized; system friction and external disturbance are combined to serve as the extended state of a system and be compensated in the system. The extended state observer is designed and used for estimating the system state and uncertain items comprising system friction and external disturbance, and the gain parameters of the observer are determined in a pole assignment mode; according to the linear feedback control thought, a linear feedback controller is designed, it is ensured that the system tracking error is rapid and stable and is converged to zero, and finally rapid and stable control over the servo system is achieved. The method solves the problems that the system friction and external disturbance state can not be observed, and the parameter setting difficulty is large, the system friction and external disturbance and other states are compensated, and it is achieved that the observation error tends to zero rapidly and stably.

Description

technical field [0001] The invention designs a servo system linear feedback control and pole configuration parameter determination method based on an extended state observer, which is suitable for controlling some servo systems with uncertain states such as system friction or external disturbance. Background technique [0002] The servo system (Servo System) is a servo system that uses an electric motor as a power drive component, and is widely used in various fields such as flight control and fire control. However, the friction in the system will affect the control accuracy of the servo system, and even seriously reduce the performance of the electromechanical servo system, and the form of friction is more complicated and difficult to model. Therefore, how to effectively control and eliminate the adverse effects of friction has become one of the key problems to be solved urgently in electromechanical control. [0003] The Extended State Observer (The Extended State Observe...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 陈强罗鹏
Owner ZHEJIANG UNIV OF TECH
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