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Integral Sliding Mode Repetitive Controller for Periodic Servo Systems

A repetitive controller and integral sliding mode technology, applied in the field of motor servo system, can solve the problems of large steady-state tracking error and poor position tracking accuracy, and achieve the effects of reducing steady-state tracking error, improving control accuracy and simplifying design work

Active Publication Date: 2018-12-18
ZHEJIANG UNIV OF TECH
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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 present invention provides a small steady-state tracking error and high position tracking accuracy suitable for periodic servo systems. Integral sliding mode repetitive controller

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  • Integral Sliding Mode Repetitive Controller for Periodic Servo Systems
  • Integral Sliding Mode Repetitive Controller for Periodic Servo Systems
  • Integral Sliding Mode Repetitive Controller for Periodic Servo Systems

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Embodiment Construction

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

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

[0056]

[0057]The formulas λ, μ and ε are the positive parameters of the reaching law, satisfying that λ>ε, (1) contains linear and nonlinear parts, when |s k When | is larger, the convergence speed is fast and then slow, and the last step reaches and remains at zero. According to (1) there is...

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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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 周文委孙明轩胡轶张有兵
Owner ZHEJIANG UNIV OF TECH
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