Cross-coupling control algorithm and system based on PID control

A cross-coupling and control algorithm technology, applied in the field of cross-coupling control algorithms and systems, can solve the problems of difficult parameter setting and poor self-adaptation of classic PID control

Active Publication Date: 2018-08-03
TAIZHOU UNIV
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  • Claims
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Problems solved by technology

However, the servo system has the characteristics of nonlinearity and time variation, and the classic PID control has problems such as difficult parameter setting and poor self-adaptation.

Method used

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  • Cross-coupling control algorithm and system based on PID control
  • Cross-coupling control algorithm and system based on PID control
  • Cross-coupling control algorithm and system based on PID control

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Embodiment Construction

[0094] A cross-coupling control algorithm and system based on PID control proposed by the present invention will be described in detail below with reference to the accompanying drawings. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "left", "right", "upper", "lower", "bottom" etc. is based on the orientation or positional relationship shown in the drawings The positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, "first", "second", etc. It does not indicate the importance of components, so it should not be construed as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit th...

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Abstract

The invention discloses a cross-coupling control algorithm and system based on PID control. Firstly, a sliding mode variable structure controller is used as single-axis position tracking control to effectively reduce the position tracking error of each axis. In order to further reduce a contour error, a cross-coupling control strategy based on PID control is introduced to eliminate the influence of mismatch of each axis parameter, and the self-learning ability of a neural network is used to adaptively set the PID parameters to effectively solve the problem that the PID parameters are difficultto set. Finally, a simulation result shows that the provided control algorithm is effective and can significantly reduce the contour error of the servo system.

Description

technical field [0001] The invention belongs to the field of servo motion control, in particular to a cross-coupling control algorithm and system based on PID control. Background technique [0002] The control strategy of the servo system is usually divided into two types: tracking control and contour control. The basic idea of ​​tracking control is to indirectly achieve the purpose of reducing the contour error of the servo system by improving the position tracking performance of each axis of motion. It is a control method that controls each axis independently and the position information of each axis is not related to each other. However, the contour error is not a simple vector sum of the motion errors of each axis, but a combination of the position tracking accuracy of each axis and the multi-axis linkage accuracy. The mismatch between the dynamic characteristics and parameters of each axis will cause contour errors, making it difficult for this type of control method to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42G05B13/02G05B13/04
CPCG05B11/42G05B13/027G05B13/042
Inventor 王三秀陈光邬玲伟崔跃利汪洋蒋胜韬
Owner TAIZHOU UNIV
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