Sliding-model control method for compensating a model uncertainty of a direct drive motor system

Abstract

The present invention discloses a sliding-model control method for compensating a model uncertainty of a direct drive motor system. The method includes the steps as follows: establishing a mathematical model of the direct drive motor system; designing a model uncertainty disturbance observer; and designing a sliding-model controller based on the model uncertainty disturbance observer. The method drastically reduces a buffeting of sliding-model control, enables the system to acquire a steady-state performance of asymptotically tracking when the model uncertainty exists, enhances the ability that the utilization of the sliding-model control method in the direct drive motor system resists the model uncertainty, and acquires a better tracking performance.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, and mainly relates to a sliding mode control method for model uncertainty compensation of a direct drive motor system. Background technique [0002] In modern industrial production, direct drive motor systems are widely used in many mechanical equipment due to the elimination of some mechanical transmission problems associated with reduction gears, such as backlash, strong inertial loads, and structural flexibility. These nonlinear problems are the main factors affecting system performance, and their existence will seriously deteriorate system tracking performance. Therefore, high-precision control performance can be obtained through advanced controller design for direct drive motor systems. However, due to the lack of reduction gears, the controller design of the direct drive motor system needs to face many modeling uncertainties, such as parameter uncertainties and uncer...

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Problems solved by technology

But for uncertain nonlinearity such as external load disturbance, it seems powerless, and when the uncertain nonlinearity is too large, the system may be unstable.

However, the actual motor system has uncertain nonlinearity, so the adaptive control method cannot obtain high-precision control performance in practical applications; for the direct drive motor system, the basic idea of ​​the sliding mode control method is for the direct drive motor system The nominal model design controller, the parameter uncertainty between the real system model and the nominal model and the uncertainty nonlinearity such as external load disturbance are classified into the model uncertainty

For the model uncertainty, the traditional sliding mode control method mainly overcomes the model uncertainty by increasing the robustness of the controller so that the system state reaches the sliding mode surface urgently. However, by increasing the gain of the discontinuity item to Increase the robustness of the controller, it is likely to stimulate the high-frequency dynamics of the system in practical applications, making the system unstable

Therefore, the traditional sliding mode control method has great engineering limitations

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