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Specified performance parameter estimation-based self-adaptive control method

A technology of adaptive control and parameter estimation, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as unfavorable controller design, unknown system physical parameters, etc.

Inactive Publication Date: 2016-03-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

These methods improve the control accuracy of the turntable servo system to a certain extent, but in engineering practice, the physical parameters of the system are unknown, which is not conducive to the design of the controller

Method used

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  • Specified performance parameter estimation-based self-adaptive control method
  • Specified performance parameter estimation-based self-adaptive control method
  • Specified performance parameter estimation-based self-adaptive control method

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Embodiment 1

[0087] In order to verify the feasibility of the method, select the figure 1 The motor servo system shown is described, and the parameter of the selected motor servo system is J=0.1kg / m 2 , K E =0.2,K T =5N·m / A, R a = 5Ω, T l =0.1N·m, T f = α 2 tanh ( 15 q · ) + α 3 q · , α 2 = 0.07 , α 3 = 0.08. The specified performance function is defined as: μ(t)=(0.15-0.03)e -0.4t +0.03. The high-order neural network activation function is defined as: σ(x)=0.5 / (1+e -1x )+0.1, L=8.

[0088] Such as Figure 10 As shown, an adaptive control method based on the estimation of specified performance p...

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Abstract

The invention discloses a specified performance parameter estimation-based self-adaptive control method, which relates to a specified performance parameter estimation-based self-adaptive control method for a motor servo system, and belongs to the technical field of electromechanical control. The method comprises the following implementing steps: establishing a model containing a nonlinear friction and disturbance motor servo system; designing a performance specified performance function with a rate of convergence, a maximum overshoot and a stable tracking error; adopting a high order neural network to approach to nonlinear disturbance of the system, according to the established model containing the nonlinear friction and disturbance motor servo system, the specified performance function and a parameter estimation error-based parameter estimation method, designing a finite time self-adaptive controller u, and controlling the motor servo system according to the controller u. The method realizes the parameter estimation on the motor servo system, overcomes nonlinear influences such as friction, disturbance and extra disturbance, and further improves the transient performance and stable tracking performance of the motor servo system.

Description

technical field [0001] The invention relates to an adaptive control method based on estimating specified performance parameters, in particular to an adaptive control method based on estimating specified performance parameters for a motor servo system, and belongs to the technical field of electromechanical control. Background technique [0002] With the rapid development of the aerospace industry, the requirements for the performance and accuracy of the aircraft continue to increase, therefore, the accuracy of the motor servo system. The accuracy of the system is mainly affected by the nonlinear friction and disturbance torque of the system. Due to the existence of these nonlinearities, the performance of the motor servo system, especially the transient and steady-state performance, is further deteriorated. Therefore, eliminating these nonlinear effects is an urgent problem to be solved. [0003] Friction is an unavoidable problem affecting the control of motor servo system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/041
Inventor 任雪梅王树波赵威王敏林曾添一
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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