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Self-adjusting control method for motor servo system considering input limitation

A servo system and control method technology, applied in the field of motor servo system, can solve the problems of inability to perform parameterization processing, inability to input limited effective processing, etc.

Active Publication Date: 2019-07-09
中科南京移动通信与计算创新研究院
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Problems solved by technology

However, these control methods can only compensate the nonlinear factors that can be parameterized, but cannot be parameterized for the limited input, which leads to the inability of the existing technology to perfectly solve the problem of limited input.
[0005] In view of the characteristics of uncertain nonlinearity in motor servo, most of the existing technologies treat the nonlinear uncertainty as a whole, which makes it impossible to accurately deal with the limited input and improve the control of the motor servo system. precision

Method used

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  • Self-adjusting control method for motor servo system considering input limitation
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  • Self-adjusting control method for motor servo system considering input limitation

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Embodiment Construction

[0072] In the invention, a self-regulating control method of a motor servo system considering input limitation is provided, comprising the following steps:

[0073] Step A, establishing the motor position servo system model;

[0074] Step B, designing an error sign integral robust controller based on gain self-adjustment;

[0075] Step C, according to the error sign integral robust controller, use Lyapunov stability theory to prove the stability of the motor servo system, and use the Barbalat lemma to obtain the result of the global asymptotic stability of the system.

[0076] In this paper, the relevant symbols are explained as follows: the symbol with a · on top represents the first derivative, and the symbol with two · above represents the second derivative. The elements in the matrix are no longer described one by one.

[0077] In step A: set up the motor position servo system model, according to Newton's second law, the dynamic model equation of motor inertial load is: ...

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Abstract

The invention discloses a self-adjusting control method for a motor servo system considering input limitation. The self-adjusting control method comprises the following steps that a motor position servo system model is established, and comparison between an existing servo system and an improved servo system is performed; an error symbol integral robust controller based on gain self-adjustment is designed; according to the error symbol integral robust controller, the stability verification of the motor servo system is performed by the lyapunov stability theory, and a global progressive and stable result of the system is obtained by means of the Barbalat theory. The method disclosed by the invention is used for carrying out research on the nonlinear characteristic of input limitation existing in the motor servo system, the motor servo system is controlled by designing a novel control algorithm, and the influence of input limitation on the control precision of the motor servo system is weakened.

Description

technical field [0001] The invention relates to the field of motor servo systems, in particular to a self-regulating control method for motor servo systems considering input constraints. Background technique [0002] The motor servo system has the characteristics of fast response speed, high energy utilization rate, high transmission efficiency and low noise, and has been widely used in industry and national defense construction. With the rapid development of industrial technology, the requirements for motor control precision in various fields are getting higher and higher, so that higher standards are put forward for the performance of motor servo system controllers. [0003] There are many model uncertainties in the motor servo system, including parameter uncertainty, uncertain nonlinearity (such as unmodeled disturbance, nonlinear friction, limited input, time delay, dead zone, etc.), these uncertainties The existence of the controller makes it difficult to design the co...

Claims

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Application Information

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IPC IPC(8): H02P7/18
CPCH02P7/18
Inventor 刘雷胡金龙石晶林尚文娟
Owner 中科南京移动通信与计算创新研究院
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