Adaption-based implementation method of motor servo system robust position controller

Abstract

The invention belongs to the field of electromechanical servo control, and provides a method for realizing a robust position controller of a motor servo system based on self-adaptation. Taking the position servo system of a DC rotating motor as the research object, a nonlinear model of the system is established, and the system is comprehensively considered. The parameter uncertainty of the system and the uncertainty of external interference; for the parameter uncertainty of the system, the parameter adaptive algorithm designed based on the discontinuous projection operator can accurately estimate the unknown parameters, and can ensure that the estimated value of the parameter is always In the known area; the controller designed by introducing the robust term based on the integral of the expansion error signal has good robustness against uncertainties such as external disturbances and unmodeled dynamics of the system; the motor realized by the present invention The robust position controller of the servo system is a full state feedback controller, so that the position output of the motor servo system has global asymptotic tracking performance, that is, when the time tends to infinity, the tracking error is zero, and the control input is continuous and regular, which is more conducive to applied in engineering practice.

Description

technical field [0001] The invention relates to the field of electromechanical servo control, in particular to a method for realizing a robust position controller of a motor servo system based on self-adaptation. 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 robots, machine tool feed, and rocket launcher servo systems. 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 in load mass, viscous frictio...

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Problems solved by technology

[0008] 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 high gain feedback phenomenon exists in the traditional adaptive robust control, and the parameter uncertainty and uncertainty exist at the same time. 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 robust adaptive controller design based on error sign integral (ARISE) is relatively complex and can only guarantee the semi-global asymptotic stability of the whole system, and it cannot guarantee that the parameter estimates are always in a bounded area in a complex environment. , propose a robust position controller for motor servo system based on discontinuous projection operator

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