Optimal decentralized robust control method for four-motor servo system

A servo system, robust control technology, applied in the control of the speed or torque of the motor, control system, speed regulation of multiple motors, etc. The influence of mechanical structure parameter system performance and other issues

Active Publication Date: 2018-11-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

At home and abroad, a certain amount of exploration and research on structure/control integration has been carried out, but a considerable part of the methods adopted are cyclic iterations, and there are relatively few studies on four-motor servo systems, which are increasingly used in daily life. The important status makes it practical to study the integrated design of its structure and control
[0005] It can be seen that most of the research on...

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  • Optimal decentralized robust control method for four-motor servo system
  • Optimal decentralized robust control method for four-motor servo system
  • Optimal decentralized robust control method for four-motor servo system

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Embodiment Construction

[0065] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0066] The present invention provides an optimal distributed robust control method for a four-motor servo system. According to the transmission ratio between the load motors, the load tracking problem is transformed into the motor tracking problem and a model with parameter uncertainty and interconnection items is established. state-space equations. Under the condition of bounded parameter uncertainty, the problem of designing guaranteed energy controllers is transformed into the problem of designing optimal decentralized robust controllers for nominally interconnected systems. According to the analysis of the isolated system, the optimal decentralized robust controller of the interconnected system can be obtained by scaling the local optimal feedback and the stability is proved. Finally, optionally, the particle swarm optimization algorithm is used to de...

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Abstract

The invention discloses an optimal decentralized robust control method for a four-motor servo system. The method comprises establishing a state-space equation of the four-motor servo system by using abacklash dead zone model; obtaining an nominal interconnection system according to a four-motor interconnection system state equation; designing an optimal decentralized robust controller for each motor in order that the output of each motor tracks a reference signal and a performance index is minimized; for the nominal interconnection system, establishing an isolated single motor system withoutan interconnection term; and for the isolated single motor system, establishing an optimal feedback controller. The method transforms the design of the guaranteed cost controller of a uncertainty system into the design of the optimal decentralized robust controller of the nominal interconnection system, and for the design of the optimal decentralized robust controller for the nominal interconnection system, designs the optimal tracking controller from the isolated system so as to construct the optimal decentralized robust controller of the interconnection system.

Description

technical field [0001] The invention relates to the technical field of electromechanical control, in particular to an optimal decentralized robust control method for a four-motor servo system. Background technique [0002] With the emergence of large inertia and high-power equipment in the industry, the method of using multiple motors to drive simultaneously has replaced the traditional single-motor drive and has become a research hotspot and difficulty in the field of servo system control, and has been successfully applied to industrial steel rolling systems, radar Servo system, naval gun control system. Compared with the single-motor drive system, the four-motor drive system can greatly enhance the system's overload capacity and overall drive capability, greatly reduce the performance requirements for each drive motor power, and eliminate manufacturing costs and technical limitations. At the same time, linkage control can improve the control precision of the complex syste...

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Application Information

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IPC IPC(8): H02P5/00H02P5/46
CPCH02P5/00H02P5/46
Inventor 任雪梅孙紫梅曾添一王敏林
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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