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A Disturbance Rejection Control Method for Flexible Strings

A control method, a technology of interference rejection, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2021-03-23
GUANGZHOU UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing technology does not well consider the influence of boundary disturbance and infinite-dimensional distributed disturbance on the flexible string system, which makes the flexible string system have great limitations

Method used

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  • A Disturbance Rejection Control Method for Flexible Strings
  • A Disturbance Rejection Control Method for Flexible Strings
  • A Disturbance Rejection Control Method for Flexible Strings

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0069] see figure 1 , figure 1 It is a schematic flowchart of an interference rejection control method for flexible strings provided by the first embodiment of the present invention.

[0070] The interference rejection control method for flexible strings includes the following steps:

[0071] S101. Obtain dynamic characteristics of the flexible string system, and construct a flexible string system model according to the dynamic characteristics.

[0072] In this embodiment, the dynamic characteristics include the kinetic energy of the flexible string system, the potential energy of the flexible string system, and the virtual work done by non-conservative forces on the flexible string system; wherein,

[0073] The kinetic energy is:

[0074]

[0075] in, m is the mass of the controller, z(L,t) is the vibration offset of the string at the right boundary, ρ is the mass per unit length, L is the length of the flexible string, z(x,t) is the position at time t Vibration offs...

no. 2 example

[0111] see figure 2 , figure 2 It is a schematic flowchart of an interference rejection control method for flexible strings in the second embodiment of the present invention.

[0112] In this embodiment, on the basis of the first embodiment provided by the present invention, an interference rejection control method for flexible strings is provided, which at least includes the following steps:

[0113] S201. Obtain dynamic characteristics of the flexible string system, and construct a flexible string system model according to the dynamic characteristics.

[0114] S202. Construct a boundary controller and a distributed controller according to the flexible string system model.

[0115] S203. Acquire relevant parameters of the flexible string system, and according to the relevant parameters, drive an actuator by the boundary controller and the distributed controller to apply a control force to the flexible string system.

[0116] S204. Based on the flexible string system mode...

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Abstract

The invention discloses an interference rejection control method for flexible strings. The observer is used to weaken the influence of external disturbances; according to the flexible string system model, the boundary controller and distributed controller are constructed in combination with the Lyapunov method; the stability analysis of the flexible string system with boundary control and distributed control is carried out And digital simulation, according to the simulation results to adjust the design parameters of the system to achieve good control performance. The invention can effectively suppress boundary disturbance and infinite dimension disturbance, so that the flexible string system works more stably.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an interference rejection control method for flexible strings. Background technique [0002] Flexible string systems are widely used in mechanical engineering, such as cranes, marine installation and mooring systems, helicopter sling systems, etc. Due to the distributed flexible nature of the string, the flexible string system will vibrate under the action of factors such as motor excitation and external environmental interference in actual work. However, unnecessary vibration will reduce the performance of the flexible string system and affect the performance of the flexible string system. system productivity. [0003] In the prior art, the use of active control in flexible string systems is generally considered to be a cost-effective method for stabilizing flexible structural systems, because it can respond quickly to control strategy changes, has good control perfor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵志甲石钧肖颖马永浩张佳宁
Owner GUANGZHOU UNIVERSITY
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