Method for achieving motor servo system position controller based on self-adaptive and expanded error symbol integral robustness

Abstract

The invention belongs to the field of electromechanical servo control, and discloses a method for designing a self-adaptive position controller of a motor servo system based on the expanded error symbol integral robustness. According to the method, a direct-current rotary motor position servo system is selected as a research object, and a nonlinear model of the system is established. Meanwhile, the parameter uncertainty of the system and the uncertainty of external interference are considered at the same time. The controller can accurately estimate unknown parameters based on the parameter adaptive algorithm designed for the parameter uncertainty of the system. The designed controller is good in robustness through considering the external interference of the system on the expanded error symbol integral-based robustness and the uncertainty of unmodeled dynamics. The designed controller is in the form of a full-state feedback controller, and the asymptotic tracking performance is enabled for the position output of the motor servo system. That means, when the time tends to be infinite, the tracking error is zero. The designed controller is continuous in control voltage, and more applicable to practical engineering application.

Description

technical field [0001] The invention relates to the field of electromechanical servo control, in particular to a method for realizing a position controller of a motor servo system based on adaptive and extended error sign integral robustness. Background technique [0002] Due to the outstanding advantages of fast response, high transmission efficiency, convenient maintenance and convenient energy acquisition, the motor servo system is widely used in important fields such as industry and national defense, such as machine tool feed, rocket launcher servo system, robot, etc. With the development of these fields and the continuous improvement of the technical level, there is an urgent need for a high-performance motor servo system as a support, and the control performance obtained by the traditional linearization method cannot meet the system requirements gradually. There are many model uncertainties in the motor servo system, including parameter uncertainties (such as changes i...

AI Technical Summary

Problems solved by technology

[0009] The present invention solves the problem that the nonlinear model of the simplified system is linear or ignores the uncertainty of the system modeling in the control of the existing motor servo system, the phenomenon of high gain feedback in the traditional adaptive robust control, and the simultaneous existence of parameter uncertainty and uncertainty A linear nonlinear system can only guarantee that the tracking error is bounded (that is, to ensure that the tracking error is within a bounded range, and it cannot ensure that the tracking error tends to zero)

At the same time, the design of robust controller based on sign integral of error (RISE) is relatively complex and can only ensure the semi-global asymptotic stability of the whole system. A robust adaptive position controller for motor servo system based on sign integral of error is proposed.

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