Electromechanical servo control method, system, terminal equipment and storage medium
A technology of electromechanical servo and control method, which is applied in the field of terminal equipment and storage media, electromechanical servo control method, and system, can solve the problems of low precision of electromechanical servo control, achieve the effect of enhancing quick response characteristics and improving servo control accuracy
Active Publication Date: 2022-02-22
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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[0003] In view of this, the embodiment of the present invention provides an electromechanical servo control method, system, terminal equipment and storage medium to solve the problem of electromechanical servo control caused by the existing adaptive sliding mode method in the prior art under the condition of sudden or fast-changing disturbances. The problem of low precision
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[0021] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
[0022] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.
[0023] In the embodiment of the present invention, the execution subject of the process is a terminal device, which includes but is not limited to a notebook computer, a computer, a server, a tablet computer, and a smart phone, and other terminal devices with software d...
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The present invention is applicable to the technical field of electromechanical servo control, and provides an electromechanical servo control method, system, terminal equipment and storage medium. The electromechanical servo control method includes: acquiring control data of the controlled object, wherein the control data includes observation output, The sliding mode and the sliding mode control quantity are calculated based on the preset motion parameters and control data. The sliding mode adjusts the sliding mode control quantity, and the feedback control result is output by observing the output quantity and the sliding mode control quantity, so as to pass the feedback control result Adjust the interference compensation of the motor, that is, adjust the sliding mode control amount through the sliding mode, so that under the condition of sudden or fast-changing interference, the corresponding sliding mode can be automatically generated according to the controlled object, so that the sliding mode can flexibly adjust the sliding mode. Modulus control amount, thereby enhancing the fast response characteristics of disturbance estimation, and improving the servo control accuracy.
Description
technical field [0001] The invention belongs to the technical field of electromechanical servo control, and in particular relates to an electromechanical servo control method, system, terminal equipment and storage medium. Background technique [0002] In electromechanical servo systems, in order to achieve high-precision control performance, it is often necessary to estimate and compensate internal and external source disturbances in the system. The traditional control method based on disturbance observer can realize disturbance estimation and disturbance compensation in linear and nonlinear control systems, so as to improve the control performance of the system. However, although the disturbance observer can accurately observe the disturbance in a steady state after a certain adjustment time, it has limited effects in estimating and compensating for sudden or fast-changing disturbances. In order to improve the performance of observing and compensating for abrupt or fast-c...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 田大鹏
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI