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Servosystem position tracking control method based on hybrid sliding mode control

A technology of servo system and tracking control, applied in general control system, control/adjustment system, program control, etc., can solve problems such as no research, achieve the effect of improving control accuracy and overcoming chattering problems

Active Publication Date: 2020-01-21
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But applying high-order sliding mode control to the problem of position control of permanent magnet synchronous motors with external disturbances, little research has been done so far, remains a challenge

Method used

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  • Servosystem position tracking control method based on hybrid sliding mode control
  • Servosystem position tracking control method based on hybrid sliding mode control
  • Servosystem position tracking control method based on hybrid sliding mode control

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Embodiment Construction

[0011] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

[0012] Considering the parameter drift of the permanent magnet synchronous motor and the uncertainty of the load torque disturbance, the parameter drift and the uncertainty of the load torque are regarded as the lumped disturbance r(t), and the speed of the permanent magnet synchronous motor with the lumped disturbance is established Model. Add the equation to the motor speed equation considering the lumped disturbance That is, the position servo model is established. Here, x 1 (t) = θ represents the electronic rotor position, x 2 (t) = ω represents the mechanical angu...

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Abstract

The invention discloses a servosystem position tracking control method based on hybrid sliding mode control. The method comprises establishment of a permanent magnet synchronous motor system with outer disturbance, and designing of a sliding mode disturbance observer based on a motor model, and a second order supercoiled sliding mode control algorithm. A specific method comprises the following steps: firstly, considering uncertainty of motor parameters and load torque as lumped disturbance, designing an adaptive extension sliding mode disturbance observer to estimate uncertainty interference of the motor parameters and the load torque; secondly, presenting a new terminal sliding mode function, and designing a second order supercoiled controller based on the adaptive extension sliding modedisturbance observer, wherein a nonlinear switching term is introduced to reduce buffeting of the system. Convergence of a terminal sliding mode curved surface and stability of the controller are proved further. The method provided by the invention can effectively solve stable control of servosystem position tracking of a system model under outside disturbance.

Description

technical field [0001] The invention belongs to the field of servo system position tracking control with external disturbances, more specifically, it relates to the establishment of a motor model containing lumped disturbances, the proposal of a new sliding mode function and the position tracking of a servo system based on a second-order superhelical algorithm The design of the controller is collectively referred to here as a hybrid sliding mode control based servo system position tracking control method. Background technique [0002] The permanent magnet synchronous motor is a multivariable, strongly coupled nonlinear system. In the permanent magnet synchronous motor position servo system, there are parameter uncertainties, friction, even mechanical transmission gap and load interference, which restrict the improvement of motor performance. At the same time, in some specific occasions such as industry and military affairs, the permanent magnet synchronous motor is required ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/414
CPCG05B19/4142G05B2219/34013Y02P90/02
Inventor 李猛朱培坤陈勇梁红陈章勇
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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