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Active Disturbance Rejection Control Method for Motor Servo System Considering State Constraints

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in the field of control, can solve problems such as uncertain state constraints of motor position servo system, and achieve the effect of solving uncertain nonlinear problems and simplifying design.

Active Publication Date: 2021-12-10
ANHUI UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a motor servo system ADRC control method considering state constraints to solve the problem of uncertainty and state constraints in the motor position servo system

Method used

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  • Active Disturbance Rejection Control Method for Motor Servo System Considering State Constraints
  • Active Disturbance Rejection Control Method for Motor Servo System Considering State Constraints
  • Active Disturbance Rejection Control Method for Motor Servo System Considering State Constraints

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Experimental program
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Effect test

Embodiment

[0176] The initial state of the system is x 1 (0)=1,x 2 (0)=0, in the simulation, the controller designed in this paper takes the following parameters to model the system: m=0.01, k f =5, b=1.25N·s / m, θ 1n =400,θ 2n =80,k 1 =70,k 2 =0.001,b 1 = 2,b 2 =0.01,L 1 = 2, L 2 =200, ω=800. The PID controller parameter is k p =110,k i =70,k d = 0.3. Position angle input signal y d (t)=2sin(πt)[1-exp(-0.01t 3 )] rad, d(x,t)=100sin(2πt)N·m.

[0177] The effect of the control law:

[0178] image 3 is the interference estimate and the interference estimate error curve.

[0179] Figure 4 is state x 1 Estimates and their estimation error curves.

[0180] Figure 5 are the output states of the two controllers.

[0181] Figure 6 It is the input voltage u curve of the designed controller under the action of interference, and the input voltage of the controller satisfies the input range of -10V~+10V, which is in line with practical application.

[0182] Figure 7 a...

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Abstract

The invention provides a motor servo system active disturbance rejection control method considering state constraints, comprising the following steps: step 1, establishing a motor position servo system model; step 2, designing a motor servo system active disturbance rejection controller considering state constraints; Step 3: Adjust the parameters of the active disturbance rejection control law of the motor servo system considering the state constraints so that the system meets the control performance index.

Description

technical field [0001] The invention relates to a control method, in particular to an active disturbance rejection control method for a motor servo system considering state constraints. Background technique [0002] Because of its wide application in industry, with the development of modern industry, the high-performance control of the motor system has faced greater market demand. However, it is not easy to design a high-performance controller for a servo system. Due to changes in working conditions, external disturbances, and modeling errors, it is difficult to obtain an accurate model of the actual industrial process, and various faults in the system will also lead to model failures. Uncertainty, that is to say, the uncertainty of the model exists widely in the control system. These uncertainties may seriously deteriorate the control performance that can be achieved, resulting in low control accuracy, limit cycle oscillations, and even instability. For known nonlineariti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐张宝胡晓磊孙船斌
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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