Motor position servo system self-adaptive control method based on interference observer

A disturbance observer, adaptive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2018-07-20
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is a defect in this control method, that is, when the uncertain nonlinearity is a time-varying disturbance, the system can only achieve bounded stability

Method used

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  • Motor position servo system self-adaptive control method based on interference observer
  • Motor position servo system self-adaptive control method based on interference observer
  • Motor position servo system self-adaptive control method based on interference observer

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0152] In order to verify the performance of the designed controller, the following parameters are taken in the simulation to model the motor position servo system:

[0153] Inertia load parameter m = 10kg m 2 ; Coefficient of viscous friction B = 1N m s / rad; Moment magnification factor k i =10N·m / V;

[0154] The desired instruction for a given system is x 1d =0.2sin(t)[1-exp(-0.01t 3 )] (rad).

[0155] Take the following controller for comparison:

[0156] Disturbance observer based adaptive (DAC) controller: take the controller parameter k 1 =10,k 2 =10; adjust the gain l 1 =40,l 2 =1000, l 3 = 3, α = 0.2, β 1 =100,β 2 =0.1, self-regulating law gain Γ=diag{700,7000}; θ min =[0.4,0.02] T , θ max =[3,1] T ,

[0157] Active Disturbance Rejection Adaptive (ADRAC) Controller: Considering the ADRAC controller is to compare and verify that in the presence of time-varying disturbances, the ADRAC controller can only make the system reach bounded stability, while the...

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Abstract

The invention discloses a motor position servo system self-adaptive control method based on an interference observer. The motor position servo system self-adaptive control method based on an interference observer includes the steps: establishing a mathematical model for a motor position servo system; constructing an interference observer and a self-adaptive controller based on the interference observer; and by means of a Liapunov stability theory, performing stability demonstration on the motor position servo system, and obtaining a global asymptotic stability result of the system by operatinga Barbalat lemma. The motor position servo system self-adaptive control method based on an interference observer is based on an integration series model and the interference observer of the motor position servo system, designs a non-linear control method based on the interference observer, integrates the non-linear control method with self-adaptive control, respectively estimates unmodeled interference and parameter nondeterminacy to enable the servo system to achieve the effect of global asymptotic stability when unmodeled interference is time-varying interference for the servo system, and solves the strong parameter nondeterminacy problem and the strong nondeterminacy non-linear problem of the system so as to enable the system to obtain better tracking performance.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to an adaptive control method for a motor position servo system based on a disturbance observer. Background technique [0002] The motor servo system is widely used in various fields, such as robotics, machine tools, aerospace, etc., due to its advantages of fast dynamic response, convenient maintenance, high transmission efficiency, no pollution pollution, and convenient energy acquisition. Especially with the development of electronic technology and computer software technology, the development prospect of motor servo system is more and more broad. The motor servo system is a typical nonlinear system, which contains many modeling uncertainties, including parameter uncertainty (such as torque amplification coefficient and viscous friction coefficient, etc.) and uncertain nonlinearity (such as external disturbance and unmodeled friction, etc. ), these factor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 姚建勇赵倩婷徐缙恒
Owner NANJING UNIV OF SCI & TECH
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