A Dual-Loop Active Disturbance Rejection Controller That Can Overcome the Nonlinearity of Transmission Backlash
An active disturbance rejection controller and nonlinear technology, applied in the field of servo control, can solve the problems of increased unevenness, uneven processing error transmission gap, increased transmission gap, etc., to suppress resonance problems, overcome the characteristics of transmission gap, The effect of good control
Active Publication Date: 2018-04-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
In addition, in the actual motion control system, the transmission gap is not a constant value. Even if it is a brand-new product, there will be machining errors that lead to uneven transmission gaps during the movement. In addition, the transmission shaft is not rigid and constant, and there are radial gaps. beat
After a period of use, the transmission gap may also be due to the imperfect design of the control system, which does not consider the impact of reducing the transmission gap, resulting in wear of mechanical parts, increased transmission gap, and increased unevenness
Method used
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[0051] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0052] 1. Algorithm design and simulation
[0053] figure 1 is the block diagram of the Two Inertia System (Two Inertia System) with gap, where J M is the moment of inertia of the motor, J L is the moment of inertia of the load, b M is the motor damping, b L is the load damping, T is the input torque, Y L is the output of the load position, the moment model of the gap is:
[0054]
[0055] in, That is, the displacement difference between the motor and the load after being converted to the load side according to the transmission ratio, T S is the shaft transmission torque, α is the size of the transmission gap, k and c are constants, which have actual physical meaning, θ L is the position of the load in the controlled object, θ M is the position of the motor in the controlled object, and gr is the transmission ratio from the motor to the load i...
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The present invention relates to a double ring auto-disturbances rejection controller capable of overcoming transmission clearance nonlinearity. The controller comprises an outer ring auto-disturbances rejection controller and an inner ring auto-disturbances rejection controller, the inner ring auto-disturbances rejection controller adopts the motor speed feedback, and a reference signal of the inner ring auto-disturbances rejection controller is the product of a speed signal outputted by an expanded state observer (ESO) in the outer ring auto-disturbances rejection controller and a transmission ratio; the outer ring auto-disturbances rejection controller adopts the load position feedback, and a reference signal of the outer ring auto-disturbances rejection controller is a set expected load position; and the sum of the output controlled quantity u1 of the outer ring auto-disturbances rejection controller and the output controlled quantity u2 of the inner ring auto-disturbances rejection controller is used as the controlled quantity of a controlled object, thereby realizing the double ring auto-disturbances rejection controller. According to the present invention, the inner ring auto-disturbances rejection controller is introduced, the control target of the inner ring auto-disturbances rejection controller is to realize the speed synchronization of a driving part and a driven part, after the processing of the inner ring auto-disturbances rejection controller, the controlled object shows an approximate rigid characteristic, at this time, the outer ring auto-disturbances rejection controller is used to control the position of a load, thereby realizing a very good control effect.
Description
technical field [0001] The invention relates to a high-precision position tracking control system, belongs to the technical field of servo control, and in particular relates to a double-loop active disturbance rejection controller capable of overcoming the nonlinearity of the transmission gap. Background technique [0002] The transmission gap nonlinearity refers to the gap between the moving parts in the mechanical transmission system, which exists in the gear-to-gear, gear-toothed belt or worm-to-worm transmission links, which often leads to position (angle) control errors. The transmission gap is an indispensable nonlinearity in the process of mechanical motion transmission, which is conducive to the formation of oil film between moving parts, reduces friction, and prevents stagnation. At the same time, the gap is an important factor affecting the dynamic performance and steady-state accuracy of the control system. . If the influence of the transmission gap cannot be eli...
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IPC IPC(8): H02P23/12H02P23/04
CPCH02P23/04H02P23/12
Inventor 蔡涛杨静远陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY