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Electric turntable position tracking control method based on disturbance upper bound estimation

A tracking control, electric technology, applied in the field of control, can solve the problems of insufficient consideration of system parameter changes, uncertain nonlinear upper bound assumptions, and far-fetched

Active Publication Date: 2016-06-22
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0007] In order to solve the problem that the existing electric turntable servo system does not fully consider the system parameter changes and the assumption of the uncertain nonlinear upper bound is too far-fetched, the invention proposes a position tracking control method for the electric turntable based on the estimation of the upper bound of the disturbance

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  • Electric turntable position tracking control method based on disturbance upper bound estimation
  • Electric turntable position tracking control method based on disturbance upper bound estimation
  • Electric turntable position tracking control method based on disturbance upper bound estimation

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specific Embodiment approach 1

[0035] Specific implementation mode one: combine figure 1 with figure 2 To illustrate this embodiment, the specific steps of a position tracking control method for an electric turntable based on the estimation of the upper bound of the disturbance described in this embodiment are as follows:

[0036] Step 1. Establish a mathematical model of the system:

[0037] The turntable mainly includes three frames of pitch, azimuth and roll. The mathematical models of the three are basically the same. The present invention takes the pitch frame of the turntable as an example for illustration. According to Newton's second law, the dynamic equation of the pitch frame is:

[0038] J y ·· = k u u - B y · - T G + Δ - - - ( ...

Embodiment

[0074] The parameter of the turntable is the inertial load of the pitch frame: J=0.01kg m 2 ;Voltage torque constant: k u =5N·m / V; viscous friction coefficient: B=1.025N·m; gravity moment equivalent: β=2N·m.

[0075] In order to fully verify the effectiveness of the control method of the present invention for the motor servo system, a large number of PID controllers used in engineering practice are selected as a comparison for simulation verification, and its parameters are selected as k p =40,k i =1000,k d = 0.1.

[0076] The controller (recorded as ADC) parameter that the present invention designs is selected as: k 1 =20,k 2 = 4, σ 11 =0.001, σ 12 =0.001, σ 2 =0.001, γ=15, τ=0.2, the adaptive law parameters are selected as Γ 1 =0.2, Γ 2 =10.

[0077] The estimation range of system parameters is selected as: θ min =[0,0] T , θ max =[0.005,0.5] T .

[0078] The system tracking position instruction is selected as x 1d =0.4sin(πt)[1-exp(-0.1t 2 )](like image ...

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Abstract

The invention discloses an electric turntable position tracking control method based on disturbance upper bound estimation. A turntable servo system pitching frame is selected as a study object, meanwhile, uncertainty and uncertain nonlinearity of system parameters are considered at the same time, and an excellent turntable position tracking controller is designed; for the uncertainty of the system parameters, a good parameter adaptation law is designed, and system parameters can be estimated and converged, thereby achieving good model compensation; for the uncertain nonlinearity of the system parameters, a good disturbance upper bound estimation law is designed, and the maximum upper bound of the uncertain nonlinearity is estimated; and a disturbance compensation term in the controller adopts a hyperbolic tangent function, thereby avoiding buffeting caused by a traditional sign function. Further, the effectiveness of the controller is verified through contrast simulation results.

Description

technical field [0001] The invention relates to a control method, in particular to a position tracking control method of an electric turntable based on the estimation of the disturbance upper bound. Background technique [0002] The turntable is an important component of the hardware-in-the-loop simulation system. It is an important test equipment for detecting and evaluating the performance of the inertial navigation and airborne photoelectric guidance system. It can simulate the rotation angle of the aircraft movement through the control of the pitch, azimuth and roll of the turntable. , angular velocity and angular acceleration and other dynamic parameters, so the servo tracking performance of the turntable is crucial to the development of related defense fields. However, there are many model uncertainties in the turntable. Taking the pitching frame as an example, the uncertainties in its work include parameter uncertainties (such as load force, friction characteristic pa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 马吴宁董振乐马大为朱忠领胡健乐贵高
Owner NANJING UNIV OF SCI & TECH
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