Dead zone characteristics considered servo system finite-time control method

Abstract

The invention relates to a dead zone characteristics considered servo system finite-time control method, and the method comprises the steps: a servo system model is established, system state and controller parameters are initialized; approximate compensation is performed on dead zone part; a non-linear extended state observer is designed, parameters of the observer is determined by adopting a pole assignment method; a full-order sliding mode controller is designed. The extended state observer is designed to estimate the system state and uncertain items including system friction and external disturbance, gain parameters of the observer is determined by adopting the pole assignment method; and the full-order sliding mode controller is designed to ensure the system tracking error to be quick, stable and converge to zero, the chattering problem is reduced, and quick and stable control of the servo system is realized. According to the invention, the method solves problems of unmeasured external disturbance state such as system friction, influence of non-linear dead zone part existed in system is compensated, problems of chattering problem and long convergence time existed in common sliding mode method are improved, anti-interference capacity of the system is improved, and the system can quickly and stably track a wanted signal.

Description

Technical field [0001] The invention relates to a finite time control method of a servo system considering the characteristics of the dead zone, which is suitable for the control of some servo systems with non-linear dead zone links and requiring fast and accurate tracking of desired signals. Background technique [0002] Servo System (ServoSystem) is a servo system with a motor as a power drive element, which is widely used in various fields such as aerospace, robotics, and fire control. However, most servo systems have non-linear links such as friction and dead zone, which will not only affect the tracking accuracy and dynamic characteristics of the system, but even cause system instability in severe cases, thereby affecting the normal operation of the system. Among them, the dead zone characteristic is due to the fact that the motor stops or hardly rotates due to friction and other factors at low speed, which makes the actuator input equal to 0, which makes the control non-lin...

AI Technical Summary

Problems solved by technology

However, there are nonlinear links such as friction and dead zone in most servo systems, which will not only affect the tracking accuracy and dynamic characteristics of the system, but even lead to system instability in severe cases, thus affecting the normal operation of the system

Among them, the dead zone characteristic is due to the fact that the motor stalls or hardly rotates due to factors such as friction at low speeds, which makes the actuator input equal to 0, thus making the control nonlinear, which will seriously affect the dynamic characteristics of the system and cause the system deviation from expected signal

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