Neural network control method for backlash compensation of turntable servo system

Abstract

The invention discloses a neural network control method for backlash compensation of a turntable servo system, and aims to obtain higher tracking precision, faster response time and more stable tracking performance in allusion to the problems of driving delay and response hysteresis caused by the existence of a backlash in the turntable servo system. The method comprises the following steps of: establishing a state-space equation of an industrial robot turntable servo system, and selecting a dead zone function to describe backlash nonlinearity; directed at the problem that the speed information loaded by an industrial robot servo system is difficult to measure, a speed observer is designed to estimate the speed information; meanwhile, applying a backstepping method, introducing a virtual control quantity, selecting a Lyapunov function for backstepping recursion, and meanwhile introducing a radial basis function neural network for approximating a nonlinear part in the system, designingan RBF neural network backstepping controller, and proving the stability of the system by using the Lyapunov stability principle, ensuring the progressive stability of the system, compensating the influence of backlash nonlinearity, and improving the tracking precision.

Description

technical field [0001] The invention belongs to the technical field of electromechanical control, and specifically refers to a neural network control method for backlash compensation of a turntable servo system. Background technique [0002] Turntable servo systems are widely used in industry and military, such as precise positioning of industrial robots, precision machining on CNC equipment, precise control of radar, etc., and the requirements for performance indicators are getting higher and higher. Backlash nonlinearity is ubiquitous in the turntable servo system. Backlash is beneficial for the lubrication between gears and preventing gear teeth from being stuck, but it will cause the system output to lag, causing delay, oscillation and steady-state error. Therefore, it is necessary to apply a reasonable compensation control strategy to the backlash in the turntable servo system. [0003] The method of electric backlash elimination and control compensation is usually use...

AI Technical Summary

Problems solved by technology

PID control is a non-model-based control strategy with a simple structure, easy to operate and implement, but for nonlinear systems with backlash, the tracking accuracy and tracking stability of PID control are low

The advantages of sliding mode control are strong anti-interference ability and fast response speed. The disadvantage is that high-frequency chattering will occur when the tracking error is close to zero steady state

[0005] For a servo system with backlash nonlinearity, the above single control strategy is difficult to achieve control goals such as high tracking accuracy, good stability, and fast response speed. Therefore, how to design a high-performance controller to compensate for the influence of backlash is very important. of actual engineering value

Images