A motor servo system error symbol integral robust adaptive control method
A robust self-adaptive, servo system technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve uncertain nonlinear problems and achieve the effect of ensuring control accuracy
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[0092] Simulation parameters: J equ =0.00138kg m 2 , B equ =0.4N m / rad,k u =2.36N·m / V. Take the controller parameter k 1 =12,k 2 = 1.5,k r = 1, θ 1n =0.02, θ 2n =0.294, the selected nominal value of è is far from the true value of the parameter, in order to examine the effect of the adaptive control law. The PID controller parameter is k p =90,k i =70,k d = 0.3. The given position is referenced to the input signal The unit is rad.
[0093] Disturbance (1) Under the condition of only constant disturbance and d n = 0.5 N·m. Disturbance (2) When constant disturbance and other unmodeled disturbance coexist, and d n =0.5N·m, Disturbance (3) When constant disturbances and other unmodeled disturbances coexist, and the input is limited, d n =0.5N·m, v=u·0.8.
[0094] See the effect of the control law Figure 3-Figure 9 :
[0095] image 3 It is the tracking process diagram of the system output of the controller to the given output under the action of disturba...
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