Discrete adaptive robust sliding mode control method for servo system based on feature model

Abstract

The invention discloses a discrete adaptive robust sliding mode control method for a servo system based on a feature model. The method comprises the steps of establishing a four-motor servo system kinetic model; establishing a four-motor servo system feature model containing measurement noise according to a feature modeling theory, and identifying feature model parameters by using a recursive least square method; constructing an STF filter to filter the measurement noise, and suppressing the influence of the measurement noise on the actual system control performance; and adopting a discrete adaptive robust sliding mode controller based on the feature model as a position controller of the four-motor servo system. According to the invention, the tracking precision and the dynamic performanceof the multi-motor servo system are improved, and the control effect of the system is improved.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a discrete adaptive robust sliding mode control method for a servo system based on a characteristic model. Background technique [0002] With the rapid development of modern science and technology, hypersonic aircraft, unmanned fighter jets and other types of air maneuvering targets emerge in an endless stream, showing a trend of faster speed and stronger maneuverability, which has brought huge pressure to national air defense. In order to fight against these maneuvering targets, weapons and equipment put forward higher requirements for the rapidity, control accuracy and robustness of its servo system. [0003] The traditional servo system driving method is single-motor drive, but due to the limitations of volume, process, structure, etc., single-motor drive is difficult to meet the high-power requirements of weapon systems. So the control method of multi-motor drive is pr...

AI Technical Summary

Problems solved by technology

However, the extended Kalman filter algorithm is not robust to systems with model uncertainties, and lacks the ability to quickly track system state mutations

The discrete sliding mode control method is widely used in servo system control, but the traditional discrete sliding mode control design method has two deficiencies: one is the system chattering caused by the parameters of the reaching law itself and the influence of the switching switch; Designing the controller according to the upper and lower bounds of uncertainty makes the chattering aggravated

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