Fractional order self-adaptive control method and device for time-delay multi-flexible swing arm system

Abstract

The invention relates to the field of automatic control, and provides a fractional order adaptive control method and device for a time-delay multi-flexible swing arm system, and the method comprises the steps that a fractional order nonlinear model for a time-delay multi-flexible swing arm system is constructed; a communication network of the time-delay multi-flexible swing arm system is constructed through a directed topological graph; each order of tracking error of each flexible swing arm in the communication network is introduced; through the fractional order nonlinear model and the tracking error, a self-adaptive controller is obtained through calculation; and the motion of each flexible swing arm in the time-delay multi-flexible swing arm system is controlled through the self-adaptive controller. According to the method, by constructing the fractional order nonlinear model, the accuracy and complexity of the model can be comprehensively considered, and the time-delay multi-flexible swing arm system can be better described; a self-adaptive control method is provided, and uncertain factors in the time-delay multi-flexible swing arm system are processed; and an error barrier function and a radial basis function neural network are introduced to compensate a time lag factor in the system, so that accurate tracking of a plurality of flexible swing arms on a reference signal is realized.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a fractional-order adaptive control method and device for a time-delay multi-flexible swing arm system. Background technique [0002] Integrated circuit chips are the foundation of modern industry. The microelectronics and semiconductor manufacturing technology formed around the design, manufacture, testing and packaging of integrated circuit chips is the core of the integrated circuit industry and one of the important cornerstones of my country's industrial development. With the development of science and technology, the electronics manufacturing industry is developing towards high efficiency and high precision, and the requirements for the efficiency and precision of chip testing, sorting, and packaging equipment are also getting higher and higher. The flexible swing arm is an extremely critical functional component in electronic manufacturing equipment, mainly responsible for ...

AI Technical Summary

Problems solved by technology

[0006] The main purpose of the present invention is to solve the technical problems in the prior art that the control effect of the controller is not enough and the structure of the controller is too complicated

Images