Electromechanical servo system limitation control method based on preset echo state network

Abstract

The invention provides an electromechanical servo system limitation control method based on a preset echo state network. The method comprises the steps that a dynamic model of an electromechanical servo system is established, and the system state, sampling time and control parameters are initialized; linear processing is performed on nonlinear input saturation limitation in the system according to the differential mean value theorem so as to derive an electromechanical servo system model with unknown saturation; control system tracking error and a sliding mode surface are calculated based on a preset echo state network control method, and a new error variable is obtained to design a virtual control variable according to preset performance function conversion tracking error; and the virtual control variable is through a high-order differentiator and control input is deigned. The invention provides the high-order dynamic surface sliding mode control method capable of effectively compensating input and output limitation and enhancing neural network approximation performance so that stable and rapid tracking of the system can be realized, and great transient and steady performance can be guaranteed.

Description

technical field [0001] The invention belongs to a control method of an electromechanical servo system, and relates to a limited control method of an electromechanical servo system based on a preset echo state network, in particular to a control method of an electromechanical servo system with limited input and limited output. Background technique [0002] With the rapid development of power electronics technology, computer science, modern control theory, material technology and the gradual improvement of motor manufacturing technology, precision CNC machine tools, industrial robots, electronic processing and testing equipment, laser processing equipment, printing machinery, packaging machinery , clothing processing machinery, production automation and other industrial control fields, nonlinear electromechanical servo systems have been widely used. The nonlinear electromechanical servo system is an automatic control system whose control objects are mechanical parameters such ...

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Problems solved by technology

[0005] In order to overcome the shortcomings of existing electromechanical servo systems that cannot effectively compensate input limitations, do not consider transient performance, and static neural network approximation effects are not good, etc., the present invention provides an electromechanical servo system based on a preset echo state network. The limited control method, considering the existence of the limited input and output, adopts the echo state network to approximate the unknown function, realizes the tracking control of the limited electromechanical servo system, and ensures that the system has good transient stability performance

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