Model-free adaptive robust decoupling control method for two-motor speed control system

Abstract

The invention discloses a model-free self-adaptive robust decoupling control method of a two-motor speed-regulating system based on a neural network inverse model, comprising the steps of: analyzing the mathematical model of the two-motor speed-regulating system, and obtaining the inverse system of the original system Input-output relationship expression; collect dynamic and static data samples of the two-motor speed control system under different input excitations, train the large data samples to approximate the inverse system model and build a pseudo-linear composite system; add a tracking differentiator to arrange the transition signal, according to In the dynamic linearization method, a model-free control compensator is designed to compensate the output of nonlinear feedback, suppress the influence of uncertain disturbances in the multi-motor speed control system, and reduce the tension overshoot caused by step signals. Aiming at the characteristics of nonlinearity and strong coupling of multi-motor speed regulation system, the invention significantly suppresses the torque disturbance error caused by nonlinearity and variable structure, improves the problem of tension step overshoot, and improves the robust decoupling of the system ability.

Description

technical field [0001] The invention designs a neural network inverse model-free compensation implementation method for a multi-motor speed control system, which is suitable for a multi-motor speed control system with a Siemens PLC as a controller. The method can also be used for other nonlinear, strong coupling, robust Poor electromechanical control occasions. Background technique [0002] At present, there are still at least two problems in the control of multi-motor speed control systems: 1) In engineering applications, it is difficult to obtain accurate mathematical models of most nonlinear strong coupling systems, which increases the difficulty of various nonlinear controls; 2) The occasional disturbance and continuous mechanical wear coexist in the multi-motor speed control system, resulting in many operating conditions of the system and more complex control target constraints, which greatly reduces the robustness and adaptability of the system. With the development o...

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Problems solved by technology

[0002] At present, there are still at least two problems in the control of multi-motor speed control systems: 1) In engineering applications, it is difficult to obtain accurate mathematical models of most nonlinear strong coupling systems, which increases the difficulty of various nonlinear controls; 2) The occasional disturbance and continuous mechanical wear coexist in the multi-motor speed control system, resulting in many operating conditions of the system and more complex control target constraints, which greatly reduces the robustness and adaptability of the system

[0003] Due to factors such as load disturbance and motor parameter perturbation, the model mismatch is caused, which affects the control accuracy and reliability of the system control, and the robust control of the system directly is not suitable for multivariable nonlinear systems with strong coupling. Therefore, although there are many advanced control algorithms in recent years, in actual engineering applications, the ideal effect in simulation is often not achieved

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