Output Feedback Control Method of Motor Position Servo System Based on Nonlinear Observer

A technology of motor position and servo system, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of polluting speed and acceleration signals, deteriorating and realizing performance full state feedback controller, etc., to reduce hardware cost , the effect of improving tracking performance

Active Publication Date: 2019-08-23
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, severe measurement noise often contaminates the measured velocity and acceleration signals, deteriorating the performance of full state feedback controllers implementing

Method used

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  • Output Feedback Control Method of Motor Position Servo System Based on Nonlinear Observer
  • Output Feedback Control Method of Motor Position Servo System Based on Nonlinear Observer
  • Output Feedback Control Method of Motor Position Servo System Based on Nonlinear Observer

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Effect test

Embodiment

[0068] The parameter values ​​of the motor servo system are as follows:

[0069] m=0.02kg·m 2 ,k f =5N·m·V -1 ,B=10N·m·rad-1·s -1 , l 1 =0.1N·m,l 2 =700s·rad -1 , l 3 =0.06N·m,l 4 =15s·rad -1 , l 5 =1.5s·rad -1

[0070] Controller parameter k of the present invention 1 =800,k s1 =2000,k s2 =500.

[0071] The PID controller parameter is k p =1000,k i =50,k d = 0.1.

[0072] Position angle input signal x 1d =0.8sin(t)(1-e -0.01t3 )

[0073] image 3 It is a schematic diagram of two kinds of controller trajectory tracking instructions.

[0074] Figure 4 is the system state x under the action of the controller designed in the present invention 2 It can be seen from the figure that the estimated value of the estimated value changes with time. It can be seen from the figure that the estimated value gradually approaches the nominal value and fluctuates within a certain range around the nominal value, so that the state of the system can be accurately estimate...

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Abstract

The invention discloses an output and feedback control method of a motor position servo system based on a non-linear observer, and belongs to the field of motor servo controlling. The method comprises the following steps: establishing a math model of a motor position servo system; and designing a non-linear state observer, designing an output and feedback controller of the motor position servo system based on the non-linear observer. According to the invention, the output and feedback control method of the motor position servo system based on the non-linear observer is provided and aims at handling the circumstances with known position states and unknown velocities or accelerated velocities, which reduces hardware cost and is conducive to application in actual engineering. According to the invention, the designed controller takes full consideration of the characteristics of non-linear friction of the system and external interference, etc., guarantees the system remains balanced within limited time period, and increases tracking property of the system.

Description

technical field [0001] The invention relates to the field of a motor position servo system, in particular to an output feedback control method of a motor position servo system based on a nonlinear observer. Background technique [0002] The motor servo system has outstanding advantages such as fast response, convenient maintenance, high transmission efficiency and convenient energy acquisition, and is widely used in various important fields, such as robots, machine tools, aerospace, etc. With the rapid development of these fields, the requirements for the tracking performance of the motor servo system are getting higher and higher, and the performance of the system is closely related to the design of the controller. The motor servo system is a typical nonlinear system. In the process of designing the controller, it will face many modeling uncertainties, including structural uncertainties and non-structural uncertainties. These factors may seriously deteriorate the desired co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李旭东姚建勇
Owner NANJING UNIV OF SCI & TECH
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