Multimodal Robust Active Disturbance Rejection Motion Control Method and System
A motion control and active disturbance rejection technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as reduced stability of closed-loop systems, damage to system actuators, and sudden changes in transient response, and achieve suppression Transient response, strong robustness, improved control accuracy and the effect of
Active Publication Date: 2022-04-12
伸瑞科技(北京)有限公司 +1
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Problems solved by technology
The designed state feedback controller can ensure that all signals are bounded, and the tracking error converges to a small neighborhood of the origin, but its controller design does not deal with system disturbances, and when the mode is switched, the instantaneous The state response may have a sudden change, consume more energy, and may damage the system actuator
[0008] However, the active disturbance rejection motion control method in the related art does not consider the complex multi-modal characteristics of the system with practical engineering significance, and it is difficult to suppress the sudden change of the transient response of the actuator, that is, the sudden change of the control command when the mode switches. The stability of the closed-loop system is reduced, and the control accuracy of the system is reduced.
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[0047] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0048] It should be noted that, in the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other; and, based on the embodiments of the present invention, those of ordinary skill in the art can obtain All other embodiments of all belong to the protection scope of the present invention.
[0049] It is noted that the following describes various aspects of the embodiments that are within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and / or function described herein is illustrative only. Based on the present disclosure, a person skilled in the art should appreciate that an aspect described herein may be implemented independently of any other aspect and that two or more of these aspec...
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The invention relates to a multi-mode robust active disturbance rejection motion control method and system. The method includes the following steps executed in sequence: judging the current control mode of the controlled system according to the controlled system information; wherein the controlled system information includes the status information of the controlled system; according to the controlled system Determine the ideal control command corresponding to the current control mode of the controlled system; determine the actual control mode of the controlled system according to the information of the controlled system and the ideal control command Control instruction. The control method and system of the present invention can realize that the control method can realize the correction of the ideal control instruction to obtain the actual control instruction, suppress the transient response of the system when switching between different modal control laws, realize the control of the multi-modal system, and improve the It improves the control accuracy and the stability of the controlled system, so that the multi-mode controlled system has strong robustness.
Description
technical field [0001] The present invention relates to the technical field of motion control, in particular to a multi-mode robust active disturbance rejection motion control method and system. Background technique [0002] Motion control technology is widely used in today's industries, such as motor motion control, CNC machine tools, robot control, etc. Motion control refers to the control of motion quantities such as position / displacement, speed, and acceleration. Compared with other types of motion actuators, electric motors are used as motion actuators, which have the advantages of simple structure, fast response, high precision and efficiency, and are conducive to realizing high-performance motion control such as high-speed or low-speed, high-precision, etc., in modern industry, civil, It has broad application prospects in fields such as medical treatment, transportation and military affairs. [0003] Due to the influence of factors such as friction, system parameter...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王常虹王冠夏红伟马广程
Owner 伸瑞科技(北京)有限公司
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