Adaptive Robust Control Method for Launch Platform Based on Friction Compensation

A self-adaptive robust, launch platform technology, applied in the control field, can solve the problem of not considering friction compensation, and achieve the effect of simple controller, easy engineering practice, and excellent control performance

Active Publication Date: 2021-09-03
NANJING UNIV OF SCI & TECH
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Problems solved by technology

The proposal of Adaptive Robust Control (ARC) enables the system to obtain excellent tracking performance, and can take into account both parameter uncertainty and uncertain nonlinearity. However, accurate friction compensation is not considered in the ARC controller.

Method used

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  • Adaptive Robust Control Method for Launch Platform Based on Friction Compensation
  • Adaptive Robust Control Method for Launch Platform Based on Friction Compensation
  • Adaptive Robust Control Method for Launch Platform Based on Friction Compensation

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Embodiment

[0077] The simulation parameters are: m=0.2kgm 2 , T L =2Nm,d=0.03x 1 x 2 , σ 0 =0.03Nm / rad,σ 1 =0.8Nms / rad,σ 2 =0.65Nms / rad,F s =2.19Nm,F c = 16.69 Nm. The position reference tracking signal is chosen as x 1d =sin(t). The parameters of the adaptive robust controller (ARC) are: k1=180, k2=60, k=20, Δ 1 =1.449,Δ 2 =17.12, Γ=diag{0.01, 0.0003, 1.0, 0.001}.

[0078] image 3 is the tracking signal expected by the system. Figure 4(a) and Figure 4(b) are the position tracking error curves of ARC and PID controllers. It can be seen from the figure that the tracking error of the ARC controller is much smaller than that of the PID controller. Figure 5 is a graph of parameter estimation by the controller designed in the present invention. It can be seen from the figure that even if the exact value of the parameter cannot be obtained, we can realize its self-adaptation through the ARC controller and obtain a good tracking effect.

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Abstract

The invention discloses an adaptive robust control method for a launch platform based on friction compensation, which belongs to the field of electromechanical servo control. The control method includes: establishing a mathematical model of the launch platform; designing an adaptive robust controller; and controlling the adaptive robust control device for stability testing. On the basis of the LuGre friction model, the present invention designs an adaptive parameter estimator to estimate uncertain friction parameters. In order to avoid divergence of parameters in the self-adaptation process, a discontinuous mapping method is used to ensure that the friction parameter estimation is bounded, and at the same time A nonlinear robust feedback item is designed for time-varying external disturbances and parameter estimation errors to offset the effects caused by this part; it can achieve accurate friction compensation and ensure the excellent control performance of the launch platform.

Description

technical field [0001] The invention relates to a control method, in particular to an adaptive robust control method for a launch platform based on friction compensation. Background technique [0002] The launch platform is a typical electromechanical servo system, which consists of two parts: the azimuth axis servo subsystem and the pitch axis servo subsystem. It is mainly used to aim at the predetermined target and launch the kinetic energy load to achieve the purpose of hitting the target. It has a wide range of applications in the military field. . With the intensification of international competition, the performance requirements of the launch platform are getting higher and higher. However, nonlinear friction exists in the launch platform and has a significant impact on servo performance. Therefore, we need to design efficient controllers to achieve friction compensation. [0003] Although the traditional PID control has a simple structure, it cannot deal with uncer...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 胡健王元刚
Owner NANJING UNIV OF SCI & TECH
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