Friction nonlinearity self-adaptive control method for a servo system

A technology of self-adaptive control and self-adaptive controller, applied in the fields of friction nonlinear control and servo-servo control, can solve problems such as poor control performance, reduce complexity and prove stability.

Inactive Publication Date: 2021-06-04
THE 724TH RES INST OF CHINA SHIPBUILDING IND
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Problems solved by technology

[0007] The present invention aims to solve the problem of poor control performance due to the existence of frictional nonlinearity in the servo system, and provides a frictional nonlinear adaptive control method for the servo system. The technical solution includes:

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  • Friction nonlinearity self-adaptive control method for a servo system
  • Friction nonlinearity self-adaptive control method for a servo system
  • Friction nonlinearity self-adaptive control method for a servo system

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Embodiment Construction

[0017] The present invention proposes a friction nonlinear adaptive control method of a servo system, comprising the following steps:

[0018] Step 1: Using the continuous differentiable friction model F f (ω) as the basis, establish the mathematical model of the servo system;

[0019] Step 2: Adopt adaptive fuzzy system θ *T ξ(e) is estimated online including the nonlinear term f of the continuous differentiable friction model, and an adaptive controller is designed so that the actual position output θ of the servo system can track its expected value θ with high precision * ;

[0020] Step 3: Construct the Lyapunov function V, and prove that the error variable e=[e θ ,e ω ] T converges exponentially to a sufficiently small neighborhood of the origin.

[0021] Further, in the first step, the continuous differentiable friction model F f (ω) as the basis, the process of establishing the state equation model of the servo system is:

[0022] The dynamic equation of the ele...

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Abstract

The invention provides a friction nonlinearity self-adaptive control method for a servo system, and mainly aims to solve the problem that the control performance becomes poor due to the existence of friction nonlinearity in the servo system. Firstly, a mathematical model of the servo system is established on the basis of a continuous micro-friction model; secondly, a self-adaptive fuzzy system is adopted to estimate a non-linear term including the continuous micro-friction model on line, and a self-adaptive controller is designed, so that actual position output of the servo system can track an expected value of the servo system in a high-precision manner; and finally, a Lyapunov function is constructed to prove that an error variable is converged to a sufficiently small neighborhood of an original point according to an index.

Description

technical field [0001] The invention belongs to the technical field of servo servo control, in particular to the field of friction nonlinear control. Background technique [0002] Friction is the most common nonlinear phenomenon in the servo system. Its existence will cause the high-precision servo system to move unsteadily, and there will be dead zones, low-speed crawling, steady-state errors, and speed fluctuations, which seriously affect the control of the servo system. performance. In order to better study the nonlinear characteristics of friction and its compensation control method, it is necessary to establish a mathematical model close to the real friction phenomenon. The LuGre friction model is a relatively complete dynamic friction model, which can accurately describe the complex dynamic and static characteristics in the friction process, so it has been widely used in research and application. However, the LuGre friction model also has shortcomings such as unmeasu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杜仁慧朱瑞杰秦雅
Owner THE 724TH RES INST OF CHINA SHIPBUILDING IND
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