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Linear Feedback Control of Servo System Based on Extended State Observer and Method of Determining Parameters of Pole Configuration

A pole configuration method and expansion state technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of compensation and precise position tracking control

Active Publication Date: 2018-01-09
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

Method used

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  • Linear Feedback Control of Servo System Based on Extended State Observer and Method of Determining Parameters of Pole Configuration
  • Linear Feedback Control of Servo System Based on Extended State Observer and Method of Determining Parameters of Pole Configuration
  • Linear Feedback Control of Servo System Based on Extended State Observer and Method of Determining Parameters of Pole Configuration

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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

A servo system linear feedback control and pole configuration parameter determination method based on an extended state observer, including: establishing a servo system model, initializing the system state and controller parameters; merging system friction and external disturbance, as the extended state of the system, compensating to system. Design an extended state observer to estimate the system state and uncertain items including system friction and external disturbances, and use the pole allocation method to determine the gain parameters of the observer; according to the idea of ​​linear feedback control, design a linear feedback controller to ensure the tracking error of the system It stabilizes quickly and converges to zero, and finally realizes the fast and stable control of the servo system. The invention solves the problems of unmeasurable state of system friction and external disturbance, and difficult parameter setting, compensates the state of friction and external disturbance in the system, and realizes that the observation error tends to zero quickly 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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 陈强罗鹏
Owner ZHEJIANG UNIV OF TECH
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