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An Adaptive State Feedback Control Method for Compensating the Nonlinear Dead Zone of Actuator

A technology of state feedback and actuators, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as complex process and many limiting factors, and achieve strong numerical stability, simple design process, and dead zone good compensation effect

Inactive Publication Date: 2019-12-03
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problem of too many limiting factors and complicated process in the existing method of compensating the actuator to deal with the dead zone problem, and now provides an adaptive state feedback control method for compensating the non-linearity of the dead zone of the actuator

Method used

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  • An Adaptive State Feedback Control Method for Compensating the Nonlinear Dead Zone of Actuator
  • An Adaptive State Feedback Control Method for Compensating the Nonlinear Dead Zone of Actuator
  • An Adaptive State Feedback Control Method for Compensating the Nonlinear Dead Zone of Actuator

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specific Embodiment approach 1

[0068] Specific implementation mode one: refer to Figure 6 This embodiment is specifically described. An adaptive state feedback control method for compensating the non-linearity of the dead zone of the actuator described in this embodiment includes the following steps:

[0069] Step 1: Establish a mathematical model of the target linear system, which is a linear system to be compensated for non-linearity in the dead zone of the actuator;

[0070] Step 2: Design a state feedback control law with adaptive feed-forward at the dead zone boundary;

[0071] Step 3: Design an adaptive law for the unknown dead zone parameters;

[0072] Step 4: Solve the gain matrix of the state feedback controller and the gain matrix of the adaptive law through the stability analysis of the control system, and then obtain the state feedback controller, and use the state feedback controller to complete the non-linear compensation of the dead zone of the actuator.

[0073] Aiming at the non-linear p...

specific Embodiment approach 2

[0074] Specific embodiment 2: This embodiment is a further description of the adaptive state feedback control method for compensating the non-linearity of the dead zone of the actuator described in the specific embodiment 1. In this embodiment, in step 1, according to the target linear system characteristics, establish its mathematical model, the state space form of the mathematical model is as follows:

[0075]

[0076] where x is the state of the system, x∈R n ,

[0077] A is the system coefficient matrix, A∈R n×n ,

[0078] b is the control matrix, b∈R n ,

[0079] u is the control variable with dead zone nonlinearity, u∈R, written in the following form:

[0080]

[0081] Among them, δ is the nonlinear parameter of the dead zone, δ∈R and δ>0,

[0082] τ is the control instruction item when there is no dead zone, τ∈R,

[0083] R is a one-dimensional vector.

[0084] In this embodiment, the dead-zone nonlinearity is a nonlinear problem existing in the control va...

specific Embodiment approach 3

[0087] Specific embodiment three: This embodiment is a further description of the adaptive state feedback control method for compensating the non-linearity of the dead zone of the actuator described in the second specific embodiment. In this embodiment, there will be no dead zone control command item τ It is designed as the following state feedback control form:

[0088]

[0089] Among them, K is the control gain matrix, K∈R 1×n ;

[0090] is the estimated value of the nonlinear parameter in the dead zone;

[0091] Take the above state feedback control form as the state feedback control law described in step two.

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Abstract

The invention relates to an adaptive state feedback control method of dead zone nonlinearity of a compensation actuating mechanism, and relates to the field of control of the actuating mechanism with dead zone nonlinearity. According to the method, problems of too many limiting factors and complicated process of the conventional method for processing the dead zone problem are solved. The adaptive state feedback control method of the dead zone nonlinearity of the compensation actuating mechanism includes: firstly, establishing a mathematical model of a target linear system; then designing a state feedback control law with dead zone boundary adaptive feedforward; designing an adaptive law for unknown dead zone parameters; and finally solving a control gain matrix and an adaptive law gain matrix of a state feedback controller through a control system stability analysis, obtaining the state feedback controller, and accomplishing compensation of the dead zone nonlinearity of the actuating mechanism by employing the state feedback controller. According to the method, the design process is simple and clear, and good dead zone compensation effect can be achieved.

Description

technical field [0001] The invention belongs to the field of actuator control with dead zone non-linearity. Background technique [0002] Various nonlinear links often exist in actual engineering control systems, and dead zone nonlinearity is a common phenomenon in actuators, such as electric motors, diesel engines, and mechanical connection mechanisms. The non-linearity of the dead zone has a certain impact on the accuracy of the control system. When the dead zone is serious, it may even cause the control system to fail to complete the specified tasks. At the same time, the uncertainty of the parameters of the dead zone will lead to the fact that the dead zone cannot be directly compensated by the controller, which brings difficulties to the design of the control algorithm. [0003] When dealing with the dead zone problem, the traditional classical control method often causes the system output to oscillate, which cannot achieve good results. The dead-zone inverse function...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 谢文博张玉双牟笑阳张健许家忠尤波黄玲
Owner HARBIN UNIV OF SCI & TECH