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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
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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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  • 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

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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...

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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

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Application Information

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