A control method and a system for an electric servo system

Abstract

The invention provides a control method and a system for an electric servo system. The method includes establishing the kinematics model of the electric servo system, substituting the motor load equation in the kinematics model into the load motion equation, obtaining the direct relation between the load and the input control torque through the moment cancellation, transforming the bounded controlvariables into the linear parameterized form by using the bounded time-varying parameters, simplifying the kinematics model into the second-order nonlinear system, obtaining an integral sliding modeby using the optimal time control algorithm of the second-order system, and carrying out the convergence control of the second-order nonlinear system according to the integral sliding mode. The integral sliding mode is obtained by using the optimal time control algorithm of the second-order system, and the convergence of the second-order nonlinear system is controlled according to the integral sliding mode. The invention adopts the optimal integral sliding mode strategy and the norm estimation strategy, thereby reducing the calculation amount and improving the system performance, and facilitating the fast and accurate tracking control of the servo system. It can greatly reduce the on-line update parameters, increase the performance of the system, and provide a new research and developmentideas and application methods for other products and algorithms in the field of servo.

Description

technical field [0001] The invention relates to the field of servo control, in particular to a control method and system for an electric servo system. Background technique [0002] The electric servo system consists of a servo motor, a transmission part, and a load part. The servo motor is the execution part, and the torque is transmitted to the load end through the transmission part to realize the control of the load. Because electric servo has the characteristics of strong driving force and fast response speed, it is widely used in military, industrial, medical equipment and other fields. [0003] With the continuous development of science and technology, the demand for high precision, high stability and fast response of the servo system continues to increase. However, there is a complex transmission relationship in the servo system, which will cause nonlinear phenomena such as friction nonlinearity and parameter uncertainty, which will affect the dynamic performance and ...

AI Technical Summary

Problems solved by technology

However, there is a complex transmission relationship in the servo system, which will cause nonlinear phenomena such as friction nonlinearity and parameter uncertainty, which will affect the dynamic performance and steady-state performance of the system.

At present, the strategy often adopted in practice is PID control. Although this strategy can achieve bounded convergence of tracking error, it cannot effectively compensate unknown nonlinearity, resulting in large tracking error.

In order to achieve nonlinear compensation, intelligent algorithms such as neural network and fuzzy control are generally adopted, but the compensation effect is proportional to the number of neurons, resulting in a large calculation cost and not conducive to practical application

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