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

Abstract

The invention relates to the field of automatic control, and proposes a fractional-order adaptive control method and device for a time-delay multi-flexible swing arm system, including the steps of: constructing a fractional-order nonlinear model for the time-delay multi-flexible swing arm system; constructing through a directed topology graph The communication network of the time-delay multi-flexible swing arm system; the tracking error of each flexible swing arm in the communication network is introduced; the adaptive controller is obtained through the calculation of the fractional nonlinear model and the tracking error; the time-delay is controlled by the adaptive controller The movement of each flexible swing arm in the multi-flexible swing arm system. By constructing a fractional-order nonlinear model, the present invention can comprehensively consider the accuracy and complexity of the model, and can better describe the time-delay multi-flexible swing arm system; an adaptive control method is proposed to deal with the time-delay multi-flexibility swing arm Uncertainty factors in the system; the error barrier function and radial basis neural network are introduced to compensate the time-delay factor in the system and realize the precise tracking of reference signals by multiple flexible swing arms.

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, and the microelectronics and semiconductor manufacturing technologies formed around the design, manufacture, testing, and packaging of integrated circuit chips are 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 electronic manufacturing industry is developing in the direction of 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, main...

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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

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