Parameter setting method of sliding mode controller of servo system

A servo system and parameter setting technology, applied in control systems, AC motor control, electrical components, etc., can solve problems such as time and space lag, chattering, inaccurate measurement, etc., achieve the minimum amplitude and completely eliminate chattering , the effect of small tracking error

Inactive Publication Date: 2015-12-23
HARBIN INST OF TECH
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Problems solved by technology

However, due to the time and space lag, inaccurate measurement, and inertial links in the system, chattering will occur in the system using sliding mode control. Reasonable selectio

Method used

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  • Parameter setting method of sliding mode controller of servo system
  • Parameter setting method of sliding mode controller of servo system
  • Parameter setting method of sliding mode controller of servo system

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specific Embodiment approach 1

[0016] Specific implementation mode one: combine figure 1 Shown, illustrate the technical scheme of this embodiment, its method step is:

[0017] Step 1: Establish the servo system transfer function model according to the mechanical and electrical structure of the servo system, and obtain the parameters required in the model, the parameters include: the resistance of the motor, the load size of the motor, the back electromotive force constant of the motor, the torque constant of the motor, Armature circuit resistance, armature inductance, select the above corresponding parameters according to the structure of the actual controlled motor;

[0018] Step 2: Build the corresponding system simulink simulation model according to the servo system model and the adopted sliding mode controller, and reserve the input and output interfaces required by the particle swarm optimization algorithm;

[0019] Step 3: According to the requirements of position tracking error and velocity trackin...

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Abstract

The invention, which belongs to the motion control field, relates to a parameter setting method of a sliding mode controller of a servo system. The method comprises: step one, a transfer function model of a servo system is established according mechanical and electrical structures of the servo system and needed parameters in the model are obtained; step two, a corresponding system simulink simulation model is established and input and output interfaces needed for a particle swarm optimization algorithm are left; step three, a proper fitness function is selected according to location tracking error and speed tracking error demands; step four, programming is carried out in matlab to optimize a particle swarm; step five, corresponding c,k, and epsilon of location vectors are transferred into the simulink simulation model to obtain a location error response and a speed error response of the system; step six, the speed and location of each particle are updated; step seven, when the k reaches a set maximum iterations number, the iteration process is completed and an optimization result is outputted; otherwise, the operation of the step five is carried out again; and step eight, a global optimal location vector is substituted into a sliding mode controller of the servo system. According to the invention, buffeting amplitude minimization or complete elimination of buffeting can be realized; and the tracking error can be minimized.

Description

technical field [0001] The invention relates to a parameter setting method of a sliding mode controller of a servo system, which belongs to the field of motion control. Background technique [0002] Sliding Mode Control (SlidingModeControl) was proposed by former Soviet scholars in the 1950s. It is essentially a discontinuous nonlinear control method. The biggest feature is that the controller structure changes with time. In the dynamic process of the system, according to the set current state (such as deviation, output and different order Derivative), according to the preset algorithm to change the structure and output of the controller, to ensure that the system to be controlled can do small reciprocating motions on the expected state trajectory under the preset conditions, which can ensure that the system has Excellent robustness. [0003] In a complex servo system, there are nonlinear factors such as drive saturation, external force interference, and motor thrust fluct...

Claims

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Application Information

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IPC IPC(8): H02P23/00
Inventor 陈兴林赵为志宋法质董岳刘杨王一光
Owner HARBIN INST OF TECH
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