Arc control method based on expected trajectory and disturbance compensation of motor position servo system

A servo system and motor position technology, applied in the direction of DC motor speed/torque control, control system, electrical components, etc., can solve the problem of uncertain nonlinearity of the motor position servo system

Active Publication Date: 2021-04-09
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 trajectory and disturbance compensation of motor position servo system
  • Arc control method based on expected trajectory and disturbance compensation of motor position servo system
  • Arc control method based on expected trajectory and disturbance compensation of motor position servo system

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[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 trajectory and disturbance compensation of a motor servo system, which belongs to the field of electromechanical servo control. The invention is based on the ARC control method, aiming at the uncertainty of system parameters, using a regressor based on the expected trajectory to perform automatic The design of the adaptation law can effectively reduce the impact of measurement noise on parameter estimation; the designed disturbance observer does not need to know the state information of the acceleration, and there is only one adjustable parameter, which effectively reduces the hardware cost and calculation burden, and is more effective. It is beneficial to the application in engineering; the adaptive robust algorithm adopted effectively overcomes the influence of nonlinear characteristics on the control accuracy of the servo system, and through theoretical proof and simulation analysis, the high-precision control performance of the proposed control scheme is verified , which guarantees the global asymptotic stability of the system.

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