Integral sliding mode repetitive controller suitable for periodic servo system

A repetitive controller and integral sliding mode technology, applied in the field of motor servo systems, can solve the problems of poor position tracking accuracy and large steady-state tracking error.

Active Publication Date: 2016-11-16
ZHEJIANG UNIV OF TECH
View PDF5 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the disadvantages of large steady-state tracking error and poor position tracking accuracy of the existing periodical operation motor servo system, the

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Integral sliding mode repetitive controller suitable for periodic servo system
  • Integral sliding mode repetitive controller suitable for periodic servo system
  • Integral sliding mode repetitive controller suitable for periodic servo system

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0054] The present invention will be further described below in conjunction with the drawings.

[0055] Reference Figure 1~Figure 10 , An integral sliding mode repetitive controller suitable for periodic servo systems. According to the operating process of the system state, sliding mode control can be divided into two stages: approaching motion and sliding mode motion. The system state convergence trajectory in the approaching motion is described by the approaching law. Further, in order to make the output position of the system converge within the neighborhood of the reference signal in a finite time, the present invention constructs a discrete approaching law

[0056] s k + 1 = s k - min { λ | s k | μ | s k | + ϵ , | s k | } sgn ( s k ) - - - ( 1 )

[0057] The formulas λ, μ and ε are the positive parameters of the reaching law, satisfying λ>ε, (1) contains linear and non-lin...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

An integral sliding mode repetitive controller suitable for a periodic servo system is disclosed. Sliding mode control has a reaching moving mode and a sliding mode moving mode. In the reaching moving mode, and a system state convergence locus is drawn via a reaching law; in order to enable a system output position to converge into neighborhood of reference signals, a discrete reaching law (1) is constructed, a position servo data sampling system state space (6) is designed, and a chattering-free reaching law is constructed for the integral sliding mode repetitive controller. The invention provides the integral sliding mode repetitive controller for the periodic servo system, wherein the integral sliding mode repetitive controller is small in steady-state tracking errors and high in position tracking precision. Based on repetitive operation characteristics of a periodic working motor servo system, existing information of periodic disturbance components can be used for accurate position tracking.

Description

technical field [0001] The invention relates to repetitive control and sliding mode control technology, and is especially suitable for the motor servo system of periodic operation, and also suitable for other periodic operation processes in industrial occasions. Background technique [0002] Various disturbances inevitably exist in the actual control system, including parameter perturbations, unmodeled characteristics and external disturbances, which are called uncertain systems. Sliding mode control has strong robustness to disturbance and unmodeled characteristics, and has a simple algorithm and fast response speed. It is suitable for solving control problems of uncertain systems. It has become a commonly used control technology in the fields of motor control and other fields. [0003] The excellent performance of sliding mode control needs to be realized by a suitable sliding mode surface. Conventional sliding mode control usually chooses a linear sliding mode surface. A...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 周文委孙明轩胡轶张有兵
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap