A Design Method of U-Model Anti-disturbance Controller Based on Standard Form for Continuous System

Abstract

The invention discloses a design method of a standard-based continuous system U-model anti-disturbance controller, comprising the steps of: designing a second-order ESO, estimating the total disturbance of the system, using a control law to compensate the total disturbance of the system in real time, and transforming any controlled object into Integrator series standard type; on the basis of the second-order ESO work, the differential link is introduced to dynamically convert the transfer function of the control system to G(s) = 1; on the basis of dynamically transforming the controlled object, the control law is designed to Realize that the output follows the set value, and at the same time compensate the influence of the estimation error of the second-order ESO on the output; adjust the adjustable parameters to make the system meet the stable conditions and make the control deviation converge to 0 within a limited time. The invention uses the second-order ESO to estimate the total disturbance, and converts the controlled object into a standard type through the total disturbance compensation method. On this basis, the differentiator is connected in series, and the controlled object is dynamically converted into 1 through the U model control idea, and the input is eliminated. and the phase lag between the output.

Description

A Design Method of U-Model Disturbance-Resistant Controller for Continuous Systems Based on Standard technical field The invention belongs to the field of advanced control, particularly a kind of continuous system U-model anti-disturbance control based on standard type device design method. Background technique [0002] Automatic control technology is the core technology of advanced manufacturing, and is the basis for obtaining high-quality, precise and cutting-edge equipment. led by a robot For example, my country has become the world's largest robot application market for five consecutive years, but high-end robots still rely on imports. Depend on Since the core control algorithm is not mastered, the key indicators such as stability, failure rate, and ease of use of domestic robots are far inferior to those of Japan. Robotic products of Ke, Yaskawa, ABB in Switzerland, and Kuka in Germany. Every time the robot completes an action, it needs a controller and a servo...

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Problems solved by technology

[0005] In order to solve the problem that the phase lag caused by the inherent relative order of the controlled object cannot be eliminated by traditional control methods, the present invention designs a standard U-model controller design method for continuous systems based on integrators connected in series, in which the second-order ESO estimates the total disturbance, and converts any controlled object into a standard type through the method of total disturbance compensation. On this basis, the differentiator is connected in series, and the controlled object is dynamically converted into 1 through the idea of ​​U model control, eliminating input and output. phase lag between

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