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Finite-time continuous sliding mode control method for disturbance compensation of direct drive motor system

A direct-drive motor, limited-time technology, applied in adaptive control, general control system, control/regulation system, etc., to eliminate observation errors, ensure robustness, and ensure transient control performance.

Active Publication Date: 2018-01-05
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

At the same time, the traditional sliding mode control method can only obtain the steady-state performance of asymptotically tracking

Method used

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  • Finite-time continuous sliding mode control method for disturbance compensation of direct drive motor system
  • Finite-time continuous sliding mode control method for disturbance compensation of direct drive motor system
  • Finite-time continuous sliding mode control method for disturbance compensation of direct drive motor system

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Experimental program
Comparison scheme
Effect test

Embodiment

[0092] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the direct drive motor system:

[0093] Inertia load parameter m=0.00026kg m 2 ; Viscous friction coefficient B = 0.00143 m s / rad; Moment amplification factor k u =1.11N·m / V;

[0094] The desired instruction for a given system is: x d =20sin(t)[1-exp(-0.01t 3 )]o;

[0095] Interference level: d(x,t)=(0.1 / 0.00026)sin(0.5πt)[1-exp(-0.01t 3 )] N m.

[0096] Take the following controller for comparison:

[0097] Finite-time stable continuous sliding-mode control (UCFT-SMC) controller for disturbance compensation: taking the disturbance observer parameter k 1 =5000, β 1 =500,ε 1 =0.05,p 1 = 3 and q 1 =5; controller parameter λ 0 =32,λ 1 =36,α 1 =0.25, α 2 =0.4, λ 2 =56,λ 3 =60,α 0 = 0.3.

[0098] Sliding mode controller (SMC): In order to force the system state to reach the sliding mode surface, the selected controller parameter is λ...

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Abstract

The invention discloses a finite-time continuous sliding mode control method for interference compensation of a direct-drive motor system. The method includes: establishing a mathematical model of the direct-drive motor system; designing a disturbance observer of the direct-drive motor system and proving the accuracy of the observation; designing Continuous sliding-mode controllers with finite-time convergence based on disturbance observers. The invention eliminates the chattering of sliding mode control, and at the same time enables the system to obtain the steady-state performance of zero tracking error in a limited time when there is interference, and enhances the application of sliding mode control method in the direct drive motor system to resist interference and eliminate slippage. The ability of mode to control chattering and obtain good tracking performance.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, and mainly relates to a limited-time continuous sliding mode control method for interference 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, it is precisely because of the lack of the role of the reduction gear that the controller design of the direct drive motor system needs to face many externa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 刘龙姚建勇胡健邓文翔
Owner NANJING UNIV OF SCI & TECH
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