Sliding mode repetitive controller for motor servo system

A technology of repetitive controllers and servo systems, applied in general control systems, adaptive control, control/regulation systems, etc., and can solve problems such as complete suppression of non-periodic interference signals and chattering problems

Active Publication Date: 2017-02-22
ZHEJIANG UNIV OF TECH
View PDF3 Cites 20 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the chattering problem caused by the intermittent function used in the repetitive control technology of the existing motor servo system and the inability to completely suppress the periodic interference signal, the present invention provides a method for eliminating the chattering problem and completely suppressing the periodic interference signal. A sliding-mode repetitive controller for motor-servo systems

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
  • Sliding mode repetitive controller for motor servo system
  • Sliding mode repetitive controller for motor servo system
  • Sliding mode repetitive controller for motor servo system

Examples

Experimental program
Comparison scheme
Effect test

example

[0108] Example: Taking the motor servo system to perform repetitive tracking tasks as an example, its given position reference signal has periodic symmetry characteristics, and the motor sampling three-loop control, wherein the speed loop and current loop controllers are provided by the ELMO driver, and the repetitive design of the present invention The controller is used as the position loop controller in the motor three-loop control system, which is provided by the TMS320F2812 development board. Designing a position loop controller requires the establishment of mathematical models of servo objects other than the position loop, including current loops, speed loops, power drives, motor bodies, and detection devices. In this example, the effectiveness of the repetitive controller given by the present invention will be illustrated by numerical simulation.

[0109] For a position reference signal with periodic symmetry, when the servo system enters a steady state, the system dist...

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 provides a sliding mode repetitive controller for motor servo system. Introduced repetitive control is based on an idea of tracking a periodic signal and inhibiting a periodic interference signal, according to the cyclic symmetric property of the interference signal in a time domain, the sampling sliding mode repetitive controller is designed based on a sine saturation function reaching law, the design is a time domaindesign method. By adopting a finite time reaching law, the discrete repetitive controller is designed based on the finite time reaching law, and the repetitive control technology not only can track a given periodic reference signal, but also can achieve the complete suppression of the periodic interference signal.

Description

technical field [0001] The invention relates to a sliding mode repeat controller used in a motor servo system, and is also suitable for other periodic operation processes in industrial occasions. Background technique [0002] The current repetitive control technology mainly focuses on the frequency domain analysis and design method based on the internal model principle. This method implants the dynamic model of the external acting signal into the controller to form a high-precision feedback. Control System a design principle. The internal model principle states that any feedback control system that can well offset external disturbances or track reference input signals must contain a dynamic model that is the same as the external input signal in its feedback loop. In order to completely eliminate the influence of external disturbances on the motion of the control system, and enable the system to track the no-steady-state error of any form of reference input signal. Thus, so...

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 Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 孙明轩周文委卢敏胡轶
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