Adaptive error symbol integration robust repetitive control method for electromechanical servo system

An electromechanical servo system, error sign technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of noise sensitivity, high bandwidth, and affecting system tracking performance, etc., to reduce the sensitivity of noise, The effect of excellent performance

Inactive Publication Date: 2015-08-12
NANJING UNIV OF SCI & TECH
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Problems solved by technology

But the traditional repetitive control has the following problems: First, the traditional repetitive control is equivalent to automatically updating all the values ​​of the periodic modeling uncertainty in one period, which means that there are infinitely many values ​​to be updated, which requires the control law The bandwidth of the control law is very high, so it puts forward very high requ

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  • Adaptive error symbol integration robust repetitive control method for electromechanical servo system
  • Adaptive error symbol integration robust repetitive control method for electromechanical servo system
  • Adaptive error symbol integration robust repetitive control method for electromechanical servo system

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Embodiment Construction

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] combine Figures 1 to 2 The self-adaptive error symbol integral robust repetitive control method of the electromechanical servo system of the present invention comprises the following steps:

[0018] Step 1, establish the mathematical model of the electromechanical servo system;

[0019] (1.1) The electromechanical servo system considered in the present invention is to directly drive the inertial load through a permanent magnet DC motor equipped with a commercial electric driver. The schematic diagram is as follows figure 1 shown. Considering that the electromagnetic time constant is much smaller than the mechanical time constant, and the speed of the current loop is much greater than the response speed of the speed loop and the position loop, the current loop can be approximated as a proportional link.

[0020] Therefore, acc...

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Abstract

The invention discloses an adaptive error symbol integration robust repetitive control method for an electromechanical servo system, which comprises the steps of establishing a mathematical model of the electromechanical servo system; constructing a system design model; and designing an adaptive error symbol integration robust repetitive controller and a performance theorem and stability certification of the adaptive error symbol integration robust repetitive controller. The control method disclosed by the invention can enable the electromechanical servo system to acquire semi-global progressive tracking performance. In addition, compared with a traditional internal mold principle based linear respective control method, the adaptive error symbol integration robust repetitive control method can also effectively reduce the sensibility of the repetitive controller for noises and avoid a high memory requirement of the controller.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to an adaptive error symbol integral robust repetitive control method of an electromechanical servo system. Background technique [0002] The electromechanical servo system has outstanding advantages such as fast response, high transmission efficiency and convenient energy acquisition, and is widely used in many important fields. However, with the improvement of the industrial technology level, the performance requirements for the electromechanical servo system are also getting higher and higher. The tracking performance of an electromechanical servo system depends on the design of the controller. However, many modeling uncertainties in the system make it difficult to design a high-performance controller. In practical engineering, most electromechanical servo systems perform tasks in cycles, such as computer disk drives, rotary lathes, and manipulators. For...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 姚建勇邓文翔刘龙
Owner NANJING UNIV OF SCI & TECH
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