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Electrical characteristics-considered motor servo system asymptotic stability control method

A servo system and control method technology, applied in the direction of single motor speed/torque control, control purpose model/simulation, etc., can solve problems such as sliding mode surface chattering, system instability, and damage to the good performance of the system to achieve enhanced The effect of robustness, avoidance of chattering problems, good tracking performance and parameter identification ability

Active Publication Date: 2018-06-12
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This situation is easy to cause the chattering problem of the sliding mode surface, which will destroy the good performance of the system, and it is easy to excite the unmodeled high-frequency characteristics in the system to make the system unstable

Method used

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  • Electrical characteristics-considered motor servo system asymptotic stability control method
  • Electrical characteristics-considered motor servo system asymptotic stability control method
  • Electrical characteristics-considered motor servo system asymptotic stability control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0111] In order to assess the performance of the designed controller, the following parameters are taken in the simulation to model the motor system: J=6.9kg m 2 , k i =0.05N·m / A, B=0.53N·m·s / rad, L=1.6H, R=1.56Ω, k b =19.7N·m / (r·min -1 ), d n =-0.01N m, f(t)=0.07sintN m; take ARC controller parameter k 1 =72,k 2 =16.3,k 3 =4.2,kn = 1, δ f =0.1N·m, θ min =[50,0,-1] T , θ max =[150,20,1] T , Г=diag{100,15,6}, δ(t)=3000 / (t 2 +1); Take the PID controller proportional coefficient k p =105, integral coefficient k i =24, differential coefficient k d = 0.9.

[0112] The given position reference signal is x 1d =0.8sin(πt)[1-exp(-0.01t 3 )].

[0113] The attached picture of the control effect is as follows:

[0114] image 3 It is a schematic diagram of the tracking process of the system output to a given reference signal under the control of the ARC controller, Figure 4 is the curve graph of the system tracking error changing with time under the action of the ARC ...

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Abstract

The invention discloses an electrical characteristics-considered motor servo system asymptotic stability control method and relates to the field of electromechanical servo. The method comprises the steps of establishing a mathematical model of a direct-current brushless motor servo system; designing a self-adaptive robust controller for realizing the asymptotic stability of the motor system; and carrying out the stability analysis through the lyapunov stability theory. According to the invention, a relatively complete and real electromechanical servo system model is established, wherein a mechanical part and an electrical part are unified. A high-order state equation is established. Meanwhile, a system controller is designed according to the self-adaptive control thought through a reverse-step design method, and an unknown bounded interference is inhibited by designing a continuous nonlinear robust feedback term. The parameter identification is carried out according to the robust parameter self-adaptation law, so that the system is still good in tracking performance when the parameters and the nonlinearity of the system are not determined. The tracking error of the system tends tobe zero, and the control quantity of the system is continuous. The parameter identification capability of the system is good.

Description

technical field [0001] The invention relates to the field of DC motor servo control, and mainly relates to an asymptotically stable control method for a motor servo system considering electrical characteristics. Background technique [0002] Permanent magnet brushless DC motors have a wide range of applications due to their own significant advantages such as fast response, simple structure, reliable operation, small size, small mass, low loss, high efficiency, and the shape and size of the motor can be flexible and diverse. Almost all fields of aerospace, national defense, industrial and agricultural production and daily life. With the development of industrial technology, high-precision motion control has become the main development direction of modern electromechanical equipment. Electromechanical servo system is a typical nonlinear system, which is easily affected by parameter uncertainty and disturbance. Therefore, the PID controller based on linear control theory can ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/08H02P6/34
CPCH02P6/08H02P6/34
Inventor 胡健谢志伟李向辉段理想刘雷
Owner NANJING UNIV OF SCI & TECH
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