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Turntable servo system identification method based on robust adaptive algorithm

A robust self-adaptive and servo system technology, applied in the field of nonlinear system identification, can solve the problems of system data without filter preprocessing, identification algorithm convergence speed dependence, and not suitable for online practical applications, etc., to improve parameter identification performance, Effects of improving convergence speed and improving accuracy

Active Publication Date: 2020-05-19
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Application Information

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Problems solved by technology

[0006] At present, there are several technical problems to be solved urgently in the system identification algorithm of the existing servo system: (1) The collected system data is not preprocessed by the filter. (2) The established objective function only considers the past information of the system; (3) The convergence speed of the identification algorithm depends on the selection of the initial value

Method used

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  • Turntable servo system identification method based on robust adaptive algorithm
  • Turntable servo system identification method based on robust adaptive algorithm
  • Turntable servo system identification method based on robust adaptive algorithm

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Experimental program
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Embodiment 1

[0066] Embodiment 1: A method for identifying a turntable servo system based on a robust adaptive algorithm, which specifically includes the following steps:

[0067] Step 1, establish the dynamic model of the turntable servo system

[0068] The turntable servo system includes servo motor, helical gear, rotating platform and load. By controlling the movement of the servo motor to drive the helical gear, the rotating platform is driven to move at different angles and speeds. The structure and working principle of the servo motor system are analyzed. According to the laws of physics, the mathematical model expression of the turntable servo system is as follows:

[0069]

[0070] In the formula, J,T m , T l , T f Represent the moment of inertia, torque, payload and friction of the motor, respectively; K E , L a , R a , I a , u represent back electromotive force coefficient, inductance, resistance, armature current and input respectively; q, Represents the position and...

Embodiment 2

[0106] Embodiment 2: This embodiment is a specific example. The method for identifying the turntable servo system based on the robust adaptive algorithm described in Embodiment 1 is used to identify the parameters of the turntable servo system, and the estimated model is based on the reference signal and the composite signal. Conduct model validation experiments. The filter in the designed identification algorithm can filter out effective noise by only adjusting one parameter, which improves the performance of identification; the designed objective function includes a discount item for parameter estimation error, so that the parameter update is updated according to the real-time error, improving The accuracy of the identification is improved; the penalty term for the initial value reduces the number of running steps of the algorithm and improves the convergence speed of the identification.

[0107] The identification of the turntable servo system is mainly divided into the fol...

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Abstract

The invention discloses a turntable servo system identification method based on a robust adaptive algorithm. The method comprises the following steps: obtaining a dynamic identification model of a motor servo system by using a discretization method, preprocessing acquired identification data by using an adaptive filter, constructing a variable gain attenuation factor for avoiding data saturation,and designing some internal variables and filtered variables to derive parameter estimation error information; establishing a discount item according to the parameter estimation error information, establishing a penalty item for an initial value by adopting the initial value error information, constructing an objective function based on the discount item and the penalty item, and solving an optimal value of the objective function to obtain a parameter adaptive rate; meanwhile, establishing a self-adaptive correction gain such that the correction rate is improved, wherein the discount term improves the precision of an identification algorithm, and the penalty term improves the convergence rate of the estimation performance such that the identification performance obtained by the objective function provided by the invention is obviously superior to that obtained by a general prediction error method, and finally, proving the effectiveness and the usefulness of the proposed algorithm by using an experimental platform.

Description

technical field [0001] The invention relates to a method for identifying a turntable servo system based on a robust adaptive algorithm, and belongs to the technical field of nonlinear system identification. Background technique [0002] With the rapid development of computer and industrial technology, military fields and actual industrial systems have higher and higher requirements for the response speed and control accuracy of mechanical power transmission systems. Since the mechanical system is based on the interconnection of different components, there are nonlinear characteristics such as friction nonlinearity, hysteresis, dead zone and clearance, etc. These nonlinear characteristics seriously deteriorate the control performance of the system and further weaken the control accuracy of the system. Therefore, how to improve the output precision of the motor servo system is a hot topic concerned by engineers and researchers. At present, most control systems are designed ba...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李林伟刘向龙高鹏飞岳伟超栗三一
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY