Self-disturbance rejection controller designing method capable of overcoming gap nonlinearity

An active disturbance rejection controller, nonlinear technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as limit cycle oscillation, achieve simple implementation, avoid limit cycle oscillation, and good adaptability Effect

CN109358510AInactive Publication Date: 2019-02-19BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-02-19
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a self-disturbance rejection controller designing method capable of overcoming a gap nonlinearity. The method comprises the following steps: determining an order of which the valence needs to be reduced according to the number of pure integrators in series in an open-loop transfer function of a system control loop; and designing a corresponding order-reducing expansion state observer of which the reduced order equals the number of the pure integrators in series to cancel the effect of the backlash nonlinear element. According to the self-disturbance rejection controllerdesigning method capable of overcoming the gap nonlinearity, the control performance is greatly improved, so that the output of the system can perfectly track an expected input; no steady state errorexists, and finally, the adverse effect of an extreme ring oscillation is eliminated; the method needs no precise system model and gap model, and is not sensitive to the amplitude of the backlash nonlinearity; and with the exception of the backlash, the method can effectively compensate other nonlinear effects with similar characteristics such as a hysteresis nonlinearity characteristic caused byfrictions to eliminate a limiting ring oscillation associated therewith.
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Description

technical field

[0001] The invention belongs to the technical field of high-precision servo control, and relates to a design method of an active disturbance rejection controller for overcoming gap nonlinearity. Background technique

[0002] In an automatic control system, gaps or gap-like nonlinearities inevitably exist in the system. Taking the servo system as an example, the connection between the actuator and the controlled object is mostly through transmission links such as gears, toothed belts or worms. In this kind of system, the transmission gap inevitably becomes the most important nonlinear factor, and due to its non-differentiable and non-smooth characteristics, the transmission gap cannot be linearized and the compensation is difficult. The processing methods for the gap can be roughly divided into two types: Two categories, the first category is through precision mechanical structure design and post-lubrication method, but the cost is high. If the transmission ...

Examples

Embodiment

[0041] 1. Algorithm design and simulation:

[0042] figure 1 It is a block diagram of a two inertia system (Two Inertia System) with a gap, and the nonlinear link of the gap exists in the gear transmission between the motor shaft and the load shaft, where J M is the moment of inertia of the motor, J L is the moment of inertia of the load, b M is the motor damping, b L is the load damping, T is the input torque, θ M is the motor shaft position output, θ L Output for the load shaft position. The moment model of the gap is:

[0043]

[0044] in, That is, the displacement difference between the motor shaft and the load shaft after being converted to the load side according to the transmission ratio, g r is the transmission ratio, T s is the shaft transmission torque, α is the size of the transmission gap, k and c represent the gear elastic coefficient and damping coefficient respectively.

[0045] First, the basic model of the controlled object is established, and th...