Parameter identification based multi-motor servo system synchronization and tracking control method

A servo system and parameter identification technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of not considering the precise tracking of system output, and achieve the effect of ensuring fast synchronization

Inactive Publication Date: 2016-08-17
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Although the above methods have achieved synchronous control, they only study the synchronizatio...

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  • Parameter identification based multi-motor servo system synchronization and tracking control method
  • Parameter identification based multi-motor servo system synchronization and tracking control method
  • Parameter identification based multi-motor servo system synchronization and tracking control method

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Embodiment Construction

[0087] In order to better illustrate the purpose and advantages of the present invention, the method of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0088] A method for synchronizing and tracking control of a multi-motor servo system based on parameter identification, comprising the following steps:

[0089] Step 1, analyze the multi-motor drive servo system with unknown parameters, and establish the mathematical model of the multi-motor drive servo system with unknown parameters according to the mechanism modeling method, according to the structure and physical laws of the motor. details as follows:

[0090] According to the mechanism modeling method, according to the structure and physical laws of the motor, the mathematical model of the multi-motor drive servo system with unknown parameters is established as follows:

[0091]

[0092] Among them, θ mi (i=1,2,…n) and θ l represent the r...

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Abstract

The invention relates to a parameter identification based multi-motor servo system synchronization and tracking control method. The parameter identification based multi-motor servo system synchronization and tracking control method comprises the steps that 1, a multi-motor driven servo system containing unknown parameters is analyzed, and a mathematic model of the multi-motor driven servo system containing unknown parameters is established according to a motor structure and a physical law; 2, a load model established in the step 1 is analyzed, and unknown parameters in the load are estimated by utilizing a variable-gain self-adaptive parameter identification method; 3, synchronization and tracking control is conducted on the multi-motor driven servo system by utilizing neural network integral sliding-mode control algorithm according to a parameter identification result obtained in the step 2. The control method can ensure the steady-state accuracy of synchronization and tracking, effectively ensure transient-state and steady-state performance of parameter estimation, decrease the complexity and calculated quantity of algorithm design and effectively improves the response speed and robustness of the multi-motor driven servo system.

Description

technical field [0001] The invention belongs to the technical field of electromechanical control, and in particular relates to a parameter identification-based synchronization and tracking control method for a multi-motor servo system. Background technique [0002] With the rapid development of society and industry, the demand for high power and large driving force equipment is also increasing. Due to technical and cost limitations, it is difficult to manufacture a high-power single-motor system, which results in a single-motor drive that cannot meet the needs of high-power systems in actual production. Considering the strong overload capability of multi-motor driving, the method of jointly driving loads with multiple motors is often used to solve the above problems. In a multi-motor drive servo system, unknown system parameters will cause the oscillation of the control system, seriously affecting the tracking accuracy and performance of the servo system. This makes it dif...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 任雪梅赵威王树波王敏林
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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