Parameter estimation and tracking control method based on turntable servo system

A servo system and parameter estimation technology, applied in electrical testing/monitoring, etc., can solve problems such as reducing system control performance and chattering, and achieve the effects of improving robustness, eliminating chattering, and reducing impact

Active Publication Date: 2017-08-29
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the traditional sliding film control generally has chattering problems, which reduces the control performance of the system.

Method used

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  • Parameter estimation and tracking control method based on turntable servo system
  • Parameter estimation and tracking control method based on turntable servo system
  • Parameter estimation and tracking control method based on turntable servo system

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Embodiment 1

[0096] The synovial film control method using the optimal adaptive parameter estimation and the super-helical algorithm in the invention for the turntable servo system disclosed in this embodiment includes the following steps:

[0097] Step 1: Analyze the turntable servo system with unknown parameters, and establish a mathematical model of the turntable servo system with unknown parameters according to the mechanism modeling method, according to the structure and physical laws of the turntable servo system.

[0098] The mathematical model of the turntable servo system with unknown parameters is used to better understand the characteristics of the turntable servo system, and then design an appropriate adaptive rate to achieve accurate estimation of parameters and a suitable controller to achieve accurate tracking.

[0099] The specific implementation method of step 1 is as follows:

[0100] According to the mechanism modeling method, according to the structure and physical laws...

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Abstract

The invention discloses a parameter estimation and tracking control method based on a turntable servo system, and belongs to the technical field of parameter identification and electromechanical control. The method comprises analyzing the turntable servo system containing unknown parameters, establishing a mathematical model of the turntable servo system containing unknown parameters according to a mechanism modeling method; updating an adaptive rate by a filtering theory, introducing a performance index function with a forgetting factor, and designing a variable-gain adaptive rate to achieve optimal adaptive parameter estimation by optimizing the performance index function; and achieving position tracking control by using the controller of a sliding-mode control design system using a super-twisting algorithm. The method can achieve the parameter estimation and tracking control of a system and has advantages of (1) reducing a system parameter estimation overshoot and accelerating the convergence of parameter estimation; (2) ensuring that a tracking error converges to zero within finite time; being not required to obtain the derivative information of a sliding-mode variable or not requiring a continuous control law of the sliding mode; eliminating chattering and improving the robustness of the controller.

Description

technical field [0001] The invention relates to parameter estimation and tracking control of a turntable servo system, in particular to an optimal self-adaptive parameter estimation and superhelical tracking control method based on a turntable servo system, belonging to the technical field of parameter identification and electromechanical control. Background technique [0002] The turntable servo system is widely used in numerical control, radar, aviation, aerospace and other fields. It is composed of mechanical table body, electronic components, motors and other components and control parts. It is a relatively complex control system. Therefore, the key to its design lies in the controller. the design of. In the control system, the model and dynamic parameters of the system are the basis of control and the premise of good control. Only by establishing a mathematical model that can describe the dynamic characteristics of the controlled object can it provide a basis for system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/02
Inventor 任雪梅杨琴琴赵威吕永峰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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