Passive force loading self-adaptive drive control method and system

Abstract

The invention discloses a passive force loading self-adaptive drive control method and system. The method comprises the steps that acquiring input, namely the speed, and output, namely loading force information of the system; processing a force follow-up loading controller by an evaluation index model according to the speed and the loading force information to obtain a nonlinear control law of theforce follow-up loading controller; introducing a reference model, and obtaining a virtual reference instruction according to the loading force information and the speed; acquiring a virtual error ofa force deviation signal according to the virtual reference instruction; obtaining a new evaluation index model of the force follow-up loading controller according to the virtual error; and correcting the nonlinear control law by utilizing the new evaluation index model to obtain a corrected nonlinear control law. The passive force loading adaptive drive control method and system provided by theinvention have the characteristics of high performance, high loading precision and high reliability.

Description

technical field [0001] The invention relates to the technical field of system control, in particular to a passive force-loaded adaptive drive control method and system with nonlinearity, strong interference, and inaccurate modeling. Background technique [0002] The passive torque servo system is mainly used in the semi-physical simulation of the mechanical load characteristics of the aerospace servo actuation system. It can simulate the mechanical load characteristics of the moving mechanism in the real environment, analyze and study the performance of the servo system, and is used in many fields such as scientific research, production and testing. Fields play a very important role. With the continuous improvement of various performance indicators of the space mechanism, higher requirements are put forward for the loading capacity and servo accuracy of the passive torque servo system. Therefore, the research on the loading control strategy of the passive torque servo system...

AI Technical Summary

Problems solved by technology

When facing passive force servo loading control, when the loading system model cannot accurately obtain relevant data and the expected position trajectory of the load side is unknown, and the whole system not only has unavoidable external disturbances caused by the position deviation between the loading side and the bearing side, but also has external disturbances due to loading Various unknown disturbances caused by the complexity of the mechanism make the traditional passive force servo loading control strategy unable to meet the loading requirements of high performance, high loading accuracy and high reliability

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