Adaptive Sliding Mode Control Method for Servo System Based on Extended State Observer

An adaptive sliding mode, expansion state technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as chattering

Active Publication Date: 2018-06-29
辽宁吉尔电子有限责任公司
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Problems solved by technology

[0005] The sliding mode variable structure control method is fully adaptive and robust. Once it enters the sliding mode state, the transition of the system state will no longer be affected by the change of system parameters and external disturbances, but the general sliding mode control, in the system state When reaching the sliding mode surface, it will cross back and forth on both sides of the equilibrium point to approach the equilibrium point, resulting in chattering problems

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  • Adaptive Sliding Mode Control Method for Servo System Based on Extended State Observer
  • Adaptive Sliding Mode Control Method for Servo System Based on Extended State Observer
  • Adaptive Sliding Mode Control Method for Servo System Based on Extended State Observer

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[0089] The present invention will be further described below in conjunction with the accompanying drawings.

[0090] Referring to Figure 1- Figure 9 , an adaptive sliding mode control method for servo systems based on extended state observers, including the following steps:

[0091] Step 1, establish the servo system model shown in formula (1), initialize the system state and control parameters;

[0092]

[0093]

[0094] Step 2, performing approximate processing on the saturation limiting link;

[0095] 2.1, using the hyperbolic tangent function, sat(u) can be approximated as

[0096]

[0097] Then, v(u)=sat(u) is equivalent to

[0098] v(u)=sat(u)=g(u)+d_1(u) (3)

[0099] Among them, d_1(u)=sat(u)-g(u), and d_1(u) satisfies

[0100] |d_1(u)|≤D (4)

[0101] Among them, |d_1(u)|=|sat(u)-g(u)|, D is the maximum value of d_1(u), D=v max (1-tanh(1));

[0102] 2.2, according to the Lagrange median value theorem, there is a constant ξ, 0<ξ<1, so that

[0103] ...

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Abstract

A servo system adaptive sliding mode control method based on an extended state observer, including: establishing a servo system model, initializing the system state and controller parameters; performing approximate compensation for the saturation link; designing a nonlinear extended state observer; using pole configuration Determine the observer parameters; design an adaptive sliding mode controller. 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; design an adaptive sliding mode controller to ensure that the system tracking error is quickly stabilized and converges to Zero point, and finally realize the fast and stable control of the servo system. The invention solves the problem that the external disturbance state such as system friction cannot be measured, compensates the influence of the nonlinear saturation link existing in the system, improves the chattering problem existing in the ordinary sliding mode method, enhances the robustness of the system, and realizes the system Fast and stable tracking of desired signals.

Description

technical field [0001] The invention designs an adaptive sliding mode control method of a servo system based on an extended state observer, which is suitable for controlling some servo systems with nonlinear saturation links and uncertain external disturbance factors such as friction. 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, there are nonlinear links such as friction and dead zone in most servo systems, coupled with the limitation of saturation limit, it will not only affect the tracking accuracy and dynamic characteristics of the system, but even lead to system instability in severe cases, thus affecting normal operation of the system. Among them, if the adjustment range of the system actuator is limited, and the amplitude of the control signal is too large, nonlinear saturation characteristics...

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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 辽宁吉尔电子有限责任公司
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