Intelligent motion control method for motor servo system

A servo system and motion control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as unknown function disturbance, ignoring measurement noise, etc.

Active Publication Date: 2020-01-17
NANJING UNIV OF TECH +1
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Problems solved by technology

[0007] The present invention proposes an intelligent motion control method for a motor servo system to solve facto

Method used

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  • Intelligent motion control method for motor servo system
  • Intelligent motion control method for motor servo system
  • Intelligent motion control method for motor servo system

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Experimental program
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Embodiment

[0125] The parameters of the motor servo system are: load moment of inertia m = 0.015kg m 2 ;Torque amplification factor k u =56.5N·m / V; the frictional force on the load The added unknown function perturbation Time-varying external disturbance d(t)=0.5sin(t)N m; the position command that the system expects to track is the curve x 1d (t)=0.2 sin(πt)[1-exp(-0.5t)]rad.

[0126] Compare the simulation results:

[0127] MNNESO: This means that the motor servo system intelligent motion controller designed in the present invention, its control parameter is selected as k 1 =5,k 2 = 5, ω 0 =60, M 1 = 2, M 2 =10, M=1, Y 1 =200diag{1,1,1,1,1,1,1,1,1,1,1}, Y 2 = 0.5diag{1,1,1,1,1,1,1,1,1,1,1}, gamma 1 =1.0×10 -5 , gamma 2 =1.0×10 -5 .

[0128] MNN: This means that the intelligent motion controller of the motor servo system designed by the present invention has no external disturbance feed-forward compensation function. The comparison controller is set up mainly to verify ...

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Abstract

The invention discloses an intelligent motion control method for a motor servo system. The intelligent motion control method belongs to the field of electromechanical servo control. The intelligent motion control method for the motor servo system is characterized by comprising the specific steps of: step 1, establishing a mathematic model of the motor servo system, and simplifying an electrical dynamic state of a motor as a proportional link according to Newton's second law; step 2, designing a multi-layer neural network to estimate unknown function disturbance suffered by the motor servo system; step 3, designing an extended state observer to estimate time-varying external interference of the motor servo system in combination with the three-layer neural network; step 4, and designing a motor servo system position tracking controller based on the multi-layer neural network and disturbance feedforward compensation. The intelligent motion control method can ensure that the position output of the motor servo system can precisely track an expected position instruction, thereby being more beneficial to application under complex working conditions in engineering practice.

Description

technical field [0001] The invention relates to a control method, in particular to an intelligent motion control method for a motor servo system, and belongs to the field of electromechanical servo control. Background technique [0002] The motor servo system has the advantages of fast response, high transmission efficiency, convenient maintenance, and convenient energy acquisition, and is widely used in important fields such as industry and engineering, such as machine tool feed systems, robot manipulator arms, and weapon servo systems. At present, the motion control of motor servo system in industry, engineering and other fields is still mainly based on the classic three-loop (current loop, speed loop and position loop) control. However, as these fields develop towards high performance, this commonly used control method It has gradually failed to meet the needs of the system. Therefore, it is urgent to study more advanced control methods. The motor servo system will inev...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨贵超王华洪荣晶陈捷张浩
Owner NANJING UNIV OF TECH
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