Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

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
  • 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

Examples

Experimental program
Comparison scheme
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...

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

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

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
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com