Control method for vertical material conveyor based on sliding form adaptive robust control

Abstract

The invention discloses a control method for a vertical material conveyor based on sliding form adaptive robust control. The method comprises the followings steps that a mathematical model of the vertical material conveyor is constructed; an expected movement track of the vertical material conveyor is planned; a sliding-form adaptive robust control system is constructed; a control law of the vertical material conveyor is formed, and can be used to control position of the vertical material conveyor by combining the sliding-form adaptive robust control system. On the basis of a sliding form controller, the reasonable adaptive control law is designed for unknown parameters of the vertical material conveyor to compensate influence of model uncertainty on the control system, the adaptive control law is designed for the robust coefficients in the traditional sliding form controller, the robustness of the traditional sliding form control system is ensured, buffeting is reduced, performance of the control system is further improved, and the position of the vertical material conveyor with parameter perturbation can be controlled precisely.

Description

technical field [0001] The invention belongs to the technical field of material conveying device control, in particular to a control method for a vertical material conveying device based on sliding mode self-adaptive robust control. Background technique [0002] Material conveying devices are widely used in machinery, construction, ship dock warehouses and other places that require cargo transportation. Common material conveying devices are classified into three types: belt type, gear type and chain type according to the transmission mode. [0003] As a chain drive material conveying device, the vertical material conveying device has the advantages of good reliability, high transmission efficiency and compact space. There are two types of traditional vertical material conveying device control: one is the traditional PID control that is not based on mathematical models, and the intelligent PID control technology evolved on this basis. Design and position control", the author...

AI Technical Summary

Problems solved by technology

There are two types of traditional vertical material conveying device control: one is the traditional PID control not based on mathematical models, and the intelligent PID control technology evolved on this basis. Design and position control", the author combines PID control and fuzzy adaptive control algorithm to obtain better position control accuracy, but the accuracy of this algorithm is greatly affected by system disturbance and uncertain items, in the controlled system When there is a large disturbance, it is impossible to complete the position control with higher precision; the other is an advanced control algorithm based on a precise mathematical model, such as the document "The Optimal Guaranteed Performance Control Algorithm for Chained Automatic Magazines", According to the theoretical basis of robust control algorithm, the dynamic equation of automatic magazine is simplified to the standard equation of linear uncertainty system, and the optimal robust control algorithm is obtained by using simulation tools. The calculation results show that higher control accuracy can be obtained, but this algorithm does not consider the influence of factors such as shock, vibration and nonlinear friction on the magazine model during the movement of the magazine.

To sum up, the control system constructed in the traditional way cannot realize the precise position control of the vertical material conveying device.

Images