Multi-motor servo system active disturbance rejection sliding mode speed control method based on inertia identification

Abstract

The invention discloses a multi-motor servo system active disturbance rejection sliding mode speed control method based on inertia identification. The method comprises the steps that: a kinetic equation of a multi-motor servo system is constructed; the load inertia input by the multi-motor servo system is identified by using a model reference adaptive method; a first-order active disturbance rejection model is constructed according to disturbance in a first-order tracking differentiator, a second-order extended state observer and a multi-motor servo system speed loop to obtain a nonlinear state error feedback control law; and a reaching law is improved based on a hyperbolic tangent softening switching function, sliding mode control with integration is constructed to compensate and optimizethe nonlinear state error feedback control law, a final control law is obtained, and then active disturbance rejection sliding mode speed control of the multi-motor servo system is achieved. Comparedwith partition PID control and integral sliding mode control, under the condition of variable inertia, the composite control strategy has better adaptability to the inertia change condition, a bettercontrol effect can be obtained, and the robustness of the control system is high.

Description

technical field [0001] The invention belongs to the field of multi-motor servo systems, in particular to an inertia identification-based self-disturbance sliding mode speed control method for multi-motor servo systems. Background technique [0002] In order to quickly track to the endless air maneuvering targets, the driving power of the weapon's servo system is greatly increased. To solve the problem of insufficient driving power of a single motor, it is necessary to use multiple motors to jointly drive the load. Using a multi-motor drive load solution can increase drive power, increase system redundancy and improve operational reliability. [0003] In practical applications, the system nonlinearity caused by differences in motor parameters, system interference, mechanical bearings and gear backlash factors will degrade the synchronization performance of the system, which will affect the reliability and accuracy of the system. On the basis of realizing the synchronous ope...

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Problems solved by technology

However, due to the existence of chattering and the mathematical model is an approximate model, the quality of sliding mode control is degraded

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