Adaptive Robust Control Method Based on Dual Electric Cylinder Synchronous Motion Error Modeling

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

Active Publication Date: 2022-06-28
NANJING UNIV OF SCI & TECH
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Adaptive Robust Control Method Based on Dual Electric Cylinder Synchronous Motion Error Modeling
  • Adaptive Robust Control Method Based on Dual Electric Cylinder Synchronous Motion Error Modeling
  • Adaptive Robust Control Method Based on Dual Electric Cylinder Synchronous Motion Error Modeling

Examples

Experimental program
Comparison scheme
Effect test

example

[0093] The simulation parameters are: smoothing function S f (·)He was elected Robust control part u s1 +u s2 Chosen 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 , trace the desired sinusoidal trajectory The amplitude is 0.2m and the frequency is 0.5Hz. Select Λ=diag[120,80] and K r =diag[70,50]. The parameter estimation initial value is set to (1) There is only a working condition of constant value disturbance, (2) in the case of constant value disturbance, the shock disturbance is applied at 40s.

[0094] The effect of the controller is as Figure 3 to Figure 10It can be seen that the algorithm proposed by the present invention has good control performance in the simulation environment, and the designed controller can ensure good control accuracy in the presence of parameter uncertainty and large interference. The research results show tha...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a self-adaptive robust control method based on dual electric cylinder synchronous motion error modeling, which belongs to the field of electromechanical servo control. According to the characteristics of the dual electric cylinder synchronous position servo system, a dual cylinder servo based on synchronous motion error is established. System model; for the problem that parameter uncertainty and all model uncertainties except parameter uncertainty exist in the electromechanical servo system at the same time, use parameter adaptive and robust control to deal with these two kinds of system uncertainties respectively, which can Effectively solve the problem of uncertain nonlinearity in the dual electric cylinder synchronous servo system; the designed adaptive robust controller based on the dual electric cylinder synchronous motion error modeling is a synchronous control strategy based on the cross-coupling method. The non-structural uncertainties such as coupling interference that may be generated during the synchronous motion of the electric cylinder have good robustness and can ensure that the position output can accurately track the desired position command.

Description

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

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡健曹书鹏
Owner NANJING UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap