Robust finite time control method of permanent magnet synchronous motor servo system

A permanent magnet synchronous motor, limited time technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of signal inconsistency, system control performance degradation, system instability, etc., to achieve short adjustment time, Robustness, the effect of eliminating adverse effects

Active Publication Date: 2018-11-13
HUANGSHAN UNIV
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Problems solved by technology

[0003] The actuator in the permanent magnet synchronous motor servo system is limited by physical conditions. When the output signal of the controller is too large, the output of the actuator will enter a nonlinear saturation state, and the signal output by the controller is inconsistent with the signal actually received by the controlled object. Phenomenon, which will lead to the decline of system control performance and even cause system instability

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  • Robust finite time control method of permanent magnet synchronous motor servo system
  • Robust finite time control method of permanent magnet synchronous motor servo system
  • Robust finite time control method of permanent magnet synchronous motor servo system

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Embodiment Construction

[0058] A robust finite-time control method for a permanent magnet synchronous motor servo system, comprising the following steps:

[0059] (1) Establish the mechanical dynamics model of the permanent magnet synchronous motor servo system, the specific process is as follows:

[0060] (1.1), the mechanical dynamics model of the permanent magnet synchronous motor servo system can be described as:

[0061]

[0062] In formula (1), u∈R, y=x represent the system state vector, system control input and system control output respectively; x is the displacement of the system; is the acceleration of the system; m is the system inertia; f(x,t) is the friction force; d(x,t) is the bounded disturbance suffered by the system, and the bounded disturbance includes at least load disturbance, measurement noise and external disturbance of the system; z 0 >0 is the control gain; v(u)∈R is the output of the following saturation function:

[0063]

[0064] In formula (2), sign( ) is a sign...

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Abstract

The invention discloses a robust finite time control method of a permanent magnet synchronous motor servo system, with input saturation constraints. The robust finite time control method includes thefollowing steps: establishing a mechanical dynamic model of the permanent magnet synchronous motor servo system; and designing an anti-saturation finite time sliding mode control law. The invention provides a robust finite time control method with input saturation constraints, for solving the problem of tracking and control of the permanent magnet synchronous motor servo system has a non-linear nondeterminacy factor of model parameters and input saturation constraints. The robust finite time control method of a permanent magnet synchronous motor servo system achieves the effect of short adjusting time and high robustness, and can effectively eliminate the adverse influence of input saturation constraints on the system tracking control performance.

Description

technical field [0001] The invention relates to the field of motor system control methods, in particular to a robust finite-time control method for a permanent magnet synchronous motor servo system. Background technique [0002] In recent years, due to the advantages of small size, low cost, high execution efficiency, large output torque, and good speed regulation performance, permanent magnet synchronous motors have been widely used in servo systems of robots and high-precision CNC machine tools. However, in the actual servo system, there are uncertain factors such as system friction, motor parameter changes, electromagnetic interference and load disturbance, as well as input saturation constraints of the actuator of the servo system. The existence of these problems will not only seriously affect the control accuracy of the system, It may even cause system instability. Therefore, how to better deal with the uncertainty factors and input saturation constraints of the servo ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/047
Inventor 郭一军李铮芦莎赵年顺
Owner HUANGSHAN UNIV
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