Contour error cross-coupling control method based on interference observation sliding mode variable structure

A sliding mode variable structure, contour error technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of unavoidable disturbance and affecting the tracking accuracy of the system

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

However, in the operation of the servo system and its surrounding environment, disturbances are inevit

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  • Contour error cross-coupling control method based on interference observation sliding mode variable structure
  • Contour error cross-coupling control method based on interference observation sliding mode variable structure
  • Contour error cross-coupling control method based on interference observation sliding mode variable structure

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Embodiment Construction

[0068] The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

[0069] The present invention is a contour error cross-coupling control method based on disturbance observation sliding mode variable structure, the control method comprising:

[0070] S1, using sliding mode variable structure control for single-axis servo motion, and observing the disturbance through the disturbance observer.

[0071] Disturbances are effectively compensated:

[0072] details as follows:

[0073] Sliding mode variable structure control can make the state of the system move along the artificially specified sliding mode surface without being affected by parameter perturbation and external interference, has good robustness, and ensures single-axis tracking performance. In this step, the sliding mode variable structure control is adopted for the single-axis motion, and the disturbance is observed b...

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Abstract

The invention discloses a contour error cross-coupling control method based on interference observation sliding mode variable structure. The method provides a control strategy combining sliding mode variable structure control, a disturbance observer and cross-coupling control and comprises steps of: designing a single-axis servo sliding mode variable structure controller based on disturbance observation; performing stability analysis on a sliding mode variable structure control algorithm based on disturbance observation; designing a cross-coupling controller based on a PID control algorithm; and performing result simulation and analysis. The sliding mode variable structure control based on disturbance observation can eliminate the influence of disturbance, enhancs system robustness and achieves accurate tracking of single-axis motion. The cross-coupling control is configured to eliminate the influence of gain parameters and dynamic mismatch between axes, reduces the contour error to achieve multi-axis coordinated motion. Finally, the effectiveness and superiority of the control method are proved by a two-axis system simulation model, and the tracking error and contour error are effectively compensated.

Description

technical field [0001] The invention relates to a control method of a multi-axis servo system, in particular to a contour error cross-coupling control method based on disturbance observation sliding mode variable structure. Background technique [0002] In order to improve the contour control accuracy of the servo system, the traditional multi-axis motion control is to design a motion controller for each axis to improve the single-axis motion accuracy and reduce the tracking error of each axis of the servo system, thereby indirectly reducing the contour error and improving The purpose of system profile accuracy. However, this non-coupling control method for single-axis independent control has certain limitations in the coordinated motion of the entire multi-axis servo system due to the invisibility of the axes when the dynamic characteristics of each motion axis do not match and the system has external disturbances. sex. When the load or speed of other axes changes, corres...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王三秀陈光邬玲伟陈月芬蒋胜韬
Owner TAIZHOU UNIV
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