ARC control method based on expected track and interference compensation of motor position servo system

A servo system, motor position technology, applied in the direction of DC motor speed/torque control, control system, electrical components, etc., can solve the problem of uncertainty and nonlinearity of the motor position servo system, reduce hardware costs and computational burden, overcome the Control the effect of precision effects

Active Publication Date: 2019-12-13
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0005] The purpose of the present invention is to provide an ARC control method based on the expected trajectory and disturbance compensation of the motor position servo system, which solves the uncertain nonlinear problem in the motor position servo system

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  • ARC control method based on expected track and interference compensation of motor position servo system
  • ARC control method based on expected track and interference compensation of motor position servo system
  • ARC control method based on expected track and interference compensation of motor position servo system

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example

[0132] Simulation parameters: m=0.0146kg m 2 , B=0.25N·m·s / rad, K=56.8N·m / V. Take the controller parameter k 1 = 2,k 2 = 0.005, k = 0.8, k s2 =0.02, ε=0.01; system parameter true value θ=[2.5704e-004,0.0044] T , the upper and lower bounds of the estimation during parameter adaptation are θ max =[0.001,0.01] T , θ min =[1.0e-004,0.001] T , the parameter adaptive rate Γ=diag{0.004,0.004}, the estimated initial value of the selected θ is Slightly away from the true value of the parameter to evaluate the effect of the adaptive control law. Simulated interference d=0.005×x 1 ×x 2 , parameter upper bound δd p =0.5,k i =0.1,k d = 0.01. A given position is referenced to the input signal x 1d =(1-e -0.4×t )×sin(t), unit rad.

[0133] Depend on Figure 2 to Figure 8 It can be seen that the ARC control method based on the expected trajectory of the motor position servo system and the disturbance compensation proposed by the present invention can estimate the disturbance ...

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Abstract

The invention discloses an ARC control method based on the expected track and interference compensation of a motor servo system and belongs to the field of electromechanical servo control. According to the ARC control method, an expected track-based regression device is adopted to design an adaptive law according to the uncertainty of system parameters, so that the influence of measurement noiseson parameter estimation can be effectively reduced; according to a designed interference observer, the state information of acceleration does not need to be known, and only one adjustable parameter isprovided, and therefore, hardware cost and calculation burden are effectively reduced, and the application of the method to engineering is facilitated; a self-adaptive robust algorithm is adopted, therefore, the influence of non-linear characteristics on the control precision of the servo system is effectively eliminated; and the high-precision control performance of the provided control scheme is verified through theoretical verification and simulation analysis, and the global asymptotic stability of the system is ensured.

Description

technical field [0001] The invention relates to the motor servo control technology, in particular to an adaptive robust (ARC) control method based on the expected track and disturbance compensation of the motor position servo system. Background technique [0002] DC motors have the advantages of fast response speed, large starting torque, and the ability to provide rated torque from zero speed to rated speed, so they are widely used in industry. With the needs of industrial development, high-precision motion control of motor position servo system has become the main development direction of modern DC motors. In the actual work of the servo motor, due to the existence of nonlinear friction, parameter uncertainty, external disturbance and other unmodeled dynamics, especially many uncertain nonlinear characteristics, the control performance of the system will be seriously deteriorated, resulting in low control accuracy. , limit cycle oscillations, and even system instability. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P7/00
CPCH02P7/00
Inventor 胡健曹坤坤
Owner NANJING UNIV OF SCI & TECH
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