An anti-disturbance two-stage fixed-point servo control method

Abstract

The invention relates to an anti-disturbance two-stage fixed-point servo control method. Firstly, the disturbance is incorporated into the system model as an extended state quantity, and a reduced-order extended state observer is designed to simultaneously estimate the state quantity and disturbance of the system; secondly, based on Target given and observer estimation, design a state invariant set, and a linear servo control law including state feedback, given feedforward and disturbance compensation; when the system state is outside the invariant set, model predictive control is used , the quadratic weighted sum of the state error and the control quantity deviation is used as the performance index, and the terminal state enters the invariant set as the constraint condition. The controlled system of the invention will transition from model predictive control to linear servo control, and realize fast and accurate fixed-point control in a wide range under constraint and disturbance conditions.

Description

technical field [0001] The invention relates to the field of industrial servo control, in particular to an anti-disturbance two-stage fixed-point servo control method. Background technique [0002] In industrial application environments such as CNC machining and automatic assembly, a large range of point-to-point motion control is usually required. This fixed-point tracking servo system must have fast response in the case of unknown load disturbance and limited control force, and low The overshoot, and the static difference in the steady state should be as small as possible to ensure the efficiency of production and the accuracy of the product. So far, researchers have conducted a lot of research and proposed various control schemes. However, most of these schemes do not properly consider the factors of control saturation limitation in the design of the controller. The control system designed in this way is either too conservative and cannot fully develop the potential of t...

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Problems solved by technology

However, most of these schemes do not properly consider the factors of control saturation limitation in the design of the controller. The control system designed in this way is either too conservative and cannot fully develop the potential of the system, or is too radical, which may cause problems in actual operation. lead to instability or other risks

[0003] At present, in the industrial servo system, PID control is mainly used, but the PID control algorithm needs to extract the differential signal from the error amount of the system, which may cause noise amplification and reduce the robustness of the system; PID control cannot be controlled simultaneously within a given bandwidth range. Achieve fast response and low overshoot, and prone to so-called integrator windup (Integrator windup)

In the petrochemical industry, some process control systems adopt model predictive control technology, which can realize optimal control under the consideration of constraints (such as control limit), but the existing model predictive control technology cannot directly Used in servo systems, because the servo system has unknown disturbances such as load torque, it is necessary to introduce an anti-interference measure to achieve accurate fixed-point servo control

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