Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling

An adaptive robust, error modeling technology, applied in adaptive control, general control systems, control/regulation systems, etc., can solve problems such as uncertain nonlinearity, and achieve the effect of overcoming the influence of control accuracy and reducing the influence.

Active Publication Date: 2020-03-17
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide an adaptive robust control method based on dual electric cylinder synchronous motion error modeling, which solves the uncertain nonlinear problem in the dual electric cylinder synchronous motion servo system

Method used

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  • Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling
  • Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling
  • Self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling

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example

[0093] The simulation parameters are: smooth function S f (·)He was elected Robust control part u s1 + u s2 was selected as -K r s, with a sufficiently large feedback gain K in the implementation r , the parameter adaptive adaptation rate is set as Γ=[30,30,20,20,20,20,3000,3000] T , to track the desired sinusoidal trajectory The amplitude is 0.2m, the frequency is 0.5Hz. Select Λ=diag[120,80] and K r =diag[70,50]. The initial values ​​of the parameter estimates are set to (1) In the working condition where there are only constant disturbances, (2) In the case of constant disturbances, an impact disturbance is added at 40s.

[0094] The effect of the controller is as Figure 3 to Figure 10As shown, it can be seen that the algorithm proposed by the present invention has good control performance in the simulation environment, and the controller designed by it can ensure good control accuracy in the presence of parameter uncertainties and large disturbances. The resea...

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Abstract

The invention discloses a self-adaptive robust control method based on double-electric-cylinder synchronous motion error modeling, which belongs to the field of electromechanical servo control. The self-adaptive robust control method establishes a double-cylinder servo system model based on synchronous motion errors according to the characteristics of a double-electric-cylinder synchronous position servo system; aiming at the problem that parameter uncertainty and uncertainty of all models except the parameter uncertainty exist in an electromechanical servo system at the same time, parameter self-adaption and robust control are used for dealing with the uncertainty of the two systems respectively, and the problem of uncertain nonlinearity in a double-electric-cylinder synchronous servo system can be effectively solved; and a designed self-adaptive robust controller based on double-electric-cylinder synchronous motion error modeling is a synchronous control strategy based on a cross coupling method, has a good robustness effect on non-structural uncertainty such as coupling interference possibly generated in the synchronous movement process of double electric cylinders, and can ensure that position output can track an expected position instruction precisely.

Description

technical field [0001] The present invention relates to motor servo control technology, in particular to an adaptive robust control method based on dual electric cylinder synchronous motion error modeling. Background technique [0002] The permanent magnet brushless DC motor has a wide range of applications in the industrial field due to its own characteristics of fast response, high energy utilization rate, and low pollution. With the development of industrial technology, the movement of large and heavy-duty equipment is obviously unable to meet the requirements of modern engineering by relying solely on the traditional single-actuator drive method. However, the dual-motor synchronous drive is gradually adopted by the industry due to its simple structure and easy automation. It is widely used in many fields, especially in the fields of robot control, mobile radar and anti-aircraft weapon launch platform in recent years, the synchronous drive of multi-motor actuators has bec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡健曹书鹏
Owner NANJING UNIV OF SCI & TECH
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