Self-adaptive anti-interference terminal sliding mode control method and device of servo driving system

Abstract

The invention relates to an adaptive anti-interference terminal sliding mode control method and device for a servo drive system, and the method comprises the steps: reading a torque current and an actual measurement motor speed, and obtaining a filtered motor speed through a speed filter; calculating a driving torque and a friction torque; lumped interference in the operation process of the servo motor is observed on line through an interference observer, and a lumped interference observed value is output; the chattering phenomenon existing in the lumped interference observation value is relieved through the interference filter; calculating a speed error and a nonsingular terminal sliding mode surface; calculating an adaptive anti-interference terminal sliding mode control law; converting the control law into a torque current reference instruction, and inputting the torque current reference instruction into a current loop of a speed regulation system for execution; and updating the motor speed observation value and the lumped interference observation value. Therefore, the problems that in the prior art, under the non-negligible interference observation error caused by the large interference change frequency, it is difficult to guarantee high-stability operation of the servo motor, and the robust anti-interference capacity is poor are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechatronics, and particularly relates to a self-adaptive anti-disturbance terminal sliding mode control method and device of a servo driving system. BACKGROUND

[0002] The servo motor speed regulation system is widely used in the industrial field, and is usually based on a cascade control structure, adopts a traditional PID control strategy to sequentially construct a speed loop and a current loop, and realizes closed-loop control of the motor speed. However, in the face of internal and external disturbances in the motor running process, including fluctuating load torque, time-varying system parameters, unknown electromechanical disturbances and sampling noise disturbances, the traditional PID control strategy cannot meet the requirements of the servo motor on speed regulation stability, and therefore a nonlinear anti-disturbance control method with stronger robustness needs to be used to redesign the speed loop of the speed regulation system.

[0003] The existing nonlinear anti-disturbance control methods mainly include adaptive control, active disturbance rejection control, internal model control, model predictive control, intelligent control, sliding mode control and terminal sliding mode control. Among them, the terminal sliding mode control realizes the super-linear fast convergence characteristics of the speed error in a limited time by constructing a power exponential terminal sliding surface, and has strong robustness to internal and external disturbances of the system.

[0004] The terminal sliding mode control usually uses a sign function to maintain the system state on the sliding surface under the action of the disturbance. Therefore, the gain of the sign function, that is, the switching gain, must be greater than the upper bound of the absolute amplitude of the disturbance, and a certain robustness margin needs to be additionally reserved. However, the high switching gain will inevitably cause the chattering phenomenon of the speed regulation system, and further cause the high-frequency fluctuation of the motor speed, thereby limiting the practical application of the terminal sliding mode control. At present, there are mainly two methods to solve the chattering problem of the terminal sliding mode control, including a method based on a reaching law and a method based on a disturbance observer. The method based on the reaching law forms a continuous reaching law by modifying or replacing the sign function in the original sliding mode reaching law, so as to avoid the direct input of the discontinuous switching term into the speed regulation system. The method based on the disturbance observer reduces the upper bound of the absolute amplitude of the disturbance in the sliding surface convergence condition through the aggregate observation and feedforward compensation of the internal and external disturbances, so as to reduce the demand for the switching gain and the robustness margin, and alleviate the chattering phenomenon.

[0005] However, the disturbance observer has a limited observation bandwidth, and can only ensure the observation accuracy and compensation effect of low frequency or constant load. If the actual disturbance has a large variation frequency, there will be a non-negligible amplitude error and phase lag between the disturbance observation value output by the observer and the actual disturbance, and the effect of the feedforward compensation cannot be guaranteed. If the variation frequency of the actual disturbance is close to or further greater than the disturbance observation bandwidth, the disturbance observation value fed forward to the speed regulation system will itself become a new disturbance factor, and will inversely increase the demand of the speed regulation system for the switching gain and the robustness margin, and will cause the sliding mode chattering phenomenon. At the same time, the commonly used continuous reaching law will equivalently reduce the switching gain when the speed regulation system is near the equilibrium state, which will not be able to robustly resist the additional disturbance observation error, and will further intensify the speed fluctuation.

[0006] In summary, the existing terminal sliding mode control method for the servo motor speed regulation system cannot guarantee the high stable operation of the servo motor under the non-negligible disturbance observation error caused by a large disturbance variation frequency, and has poor robustness and disturbance resistance, which needs to be solved urgently. SUMMARY

[0007] The present application provides a kind of servo drive system's adaptive anti-interference terminal sliding mode control method and device, to solve the prior art in the non-negligible disturbance observation error caused by large disturbance variation frequency, it is difficult to guarantee the high stable operation of servo motor, and the problems such as poor robustness and disturbance resistance.

[0008] The first aspect embodiment of the present application provides a kind of servo drive system's adaptive anti-interference terminal sliding mode control method, comprising the following steps: based on the preset reference speed instruction, read the torque current corresponding to the target servo motor speed regulation system in current servo period and measured motor speed, to obtain the motor filter speed of the measured motor speed by preset speed filter;According to the motor filter speed and the torque current, calculate the corresponding driving torque and friction torque, and based on the driving torque, the friction torque and the motor filter speed, construct a disturbance observer, to generate the corresponding lumped disturbance observation value of the target servo motor speed regulation system by the disturbance observer, and filter the lumped disturbance observation value, to obtain the corresponding lumped disturbance filter observation value, and based on the motor filter speed and the reference speed instruction, calculate the speed error and non-singular terminal sliding surface in the current servo period;Based on the speed error, the non-singular terminal sliding surface and the lumped disturbance filter observation value, calculate the terminal sliding mode control law, and convert the terminal sliding mode control law into the torque current reference instruction in the current servo period, to control the current loop of the target servo motor speed regulation system by the torque current reference instruction to execute corresponding speed regulation operation.

[0009] Optionally, in one embodiment of the present application, after the terminal sliding mode control law is converted into the torque current reference command in the current servo cycle, the method further comprises: updating the lumped disturbance observation value and the measured motor speed, and using the updated lumped disturbance observation value and measured motor speed to perform corresponding speed regulation operation on the target servo motor speed regulation system in the next servo cycle in combination with the reference speed command.

[0010] Optionally, in one embodiment of the present application, the filtering of the lumped disturbance observation value to obtain the corresponding lumped disturbance filtered observation value, and the calculation of the speed error and the non-singular terminal sliding surface in the current servo cycle based on the motor filtered speed and the reference speed command, comprises: constructing a corresponding disturbance filter based on the lumped disturbance observation value and a preset time constant; performing first-order low-pass filtering on the lumped disturbance observation value using the disturbance filter to obtain the lumped disturbance filtered observation value; and sequentially calculating the speed error and the non-singular terminal sliding surface in the current servo cycle according to the motor filtered speed, the reference speed command and a preset speed regulation parameter.

[0011] Optionally, in one embodiment of the present application, the mathematical expression of the terminal sliding mode control law is:

[0012]

[0013] wherein, represents the terminal sliding mode control law; T eq represents the equivalent compensation control law; T re represents the power index continuous approaching law; T dr represents the disturbance absorbing attractor; s f represents the non-singular terminal sliding surface; τ ω represents the time constant of the speed filter; J represents the total moment of inertia of the target servo motor speed regulation system; p and q are two positive odd numbers; β represents the speed regulation parameter of the non-singular terminal sliding surface; represents the derivative of the speed error in the current servo cycle; represents the friction torque; represents the lumped disturbance filtered observation value; represents the derivative of the motor filtered speed; represents the second derivative of the reference speed command; η represents the switching gain; ξ represents the uncertainty gain; represents the derivative of the lumped disturbance filtered observation value; sgn(·) represents the sign function.

[0014] The second aspect embodiment of the application provides a self-adaptive anti-disturbance terminal sliding mode control device of a servo driving system, including: a reading module configured to read a torque current corresponding to a target servo motor speed regulation system in a current servo period and a measured motor speed based on a preset reference speed instruction, so as to obtain a motor filtered speed of the measured motor speed through a preset speed filter; a calculation module configured to calculate a driving torque and a friction torque corresponding to the target servo motor speed regulation system according to the motor filtered speed and the torque current, and construct an interference observer based on the driving torque, the friction torque and the motor filtered speed, so as to generate a lumped interference observation value corresponding to the target servo motor speed regulation system through the interference observer, filter the lumped interference observation value, obtain a corresponding lumped interference filtered observation value, and calculate a speed error and a non-singular terminal sliding mode surface in the current servo period based on the motor filtered speed and the reference speed instruction; and an execution module configured to calculate a terminal sliding mode control law based on the speed error, the non-singular terminal sliding mode surface and the lumped interference filtered observation value, convert the terminal sliding mode control law into a torque current reference instruction in the current servo period, and control a current loop of the target servo motor speed regulation system to perform a corresponding speed regulation operation through the torque current reference instruction.

[0015] Optionally, in an embodiment of the application, the device further includes an updating module configured to update the lumped interference observation value and the measured motor speed after the terminal sliding mode control law is converted into the torque current reference instruction in the current servo period, and use the updated lumped interference observation value and measured motor speed in combination with the reference speed instruction to perform a corresponding speed regulation operation on the target servo motor speed regulation system in a next servo period.

[0016] Optionally, in an embodiment of the application, the calculation module includes: a construction unit configured to construct a corresponding interference filter based on the lumped interference observation value and a preset time constant; a filtering unit configured to first-order low-pass filter the lumped interference observation value by using the interference filter to obtain the lumped interference filtered observation value; and an operation unit configured to sequentially calculate the speed error and the non-singular terminal sliding mode surface in the current servo period according to the motor filtered speed, the reference speed instruction and a preset speed regulation parameter.

[0017] Optionally, in an embodiment of the application, a mathematical expression of the terminal sliding mode control law is:

[0018]

[0019] wherein, the terminal sliding mode control law is represented by T eq an equivalent compensation control law is represented by T rerepresents a power exponent continuous approach law; T dr represents a disturbance rejection attractor; s f represents the non-singular terminal sliding mode surface; τ ω represents a time constant of the velocity filter; J represents a total moment of inertia of the target servo motor speed regulation system; p and q are two positive odd numbers; β represents a speed regulation parameter of the non-singular terminal sliding mode surface; represents a derivative of the velocity error in the current servo period; represents the friction torque; represents the lumped disturbance filtered observation; represents a derivative of the motor filtered velocity; represents a second derivative of the reference velocity command; η represents a switching gain; ξ represents an uncertainty gain; represents a derivative of the lumped disturbance filtered observation; sgn(·) represents a sign function.

[0020] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the adaptive disturbance rejection terminal sliding mode control method of the servo drive system as described in the above embodiments.

[0021] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the adaptive disturbance rejection terminal sliding mode control method of the servo drive system as described above.

[0022] The fifth aspect of the present application provides a computer program product, comprising a computer program, and the computer program is executed to implement the adaptive disturbance rejection terminal sliding mode control method of the servo drive system as described above.

[0023] Therefore, the embodiments of the present application have the following beneficial effects:

[0024] The embodiment of the present application can read the torque current corresponding to the target servo motor speed regulation system in the current servo period and the measured motor speed based on the preset reference speed instruction, obtain the motor filtered speed of the measured motor speed through the preset speed filter, calculate the corresponding driving torque and friction torque according to the motor filtered speed and the torque current, construct the disturbance observer based on the driving torque, the friction torque and the motor filtered speed, generate the corresponding lumped disturbance observation value of the target servo motor speed regulation system through the disturbance observer, filter the lumped disturbance observation value to obtain the corresponding lumped disturbance filtered observation value, and calculate the speed error and the non-singular terminal sliding mode surface in the current servo period based on the motor filtered speed and the reference speed instruction. The terminal sliding mode control law is calculated based on the speed error, the non-singular terminal sliding mode surface and the lumped disturbance filtered observation value, and the terminal sliding mode control law is converted into the torque current reference instruction in the current servo period, so that the current loop of the target servo motor speed regulation system is controlled through the torque current reference instruction to perform corresponding speed regulation operation. The adaptive anti-disturbance terminal sliding mode control law in the present application can adaptively enhance the convergence ability of the servo motor speed regulation system to the speed error and the robustness margin to the internal and external disturbances according to the change rate of the filtered disturbance observation value, effectively reduce the motor speed fluctuation amplitude under the action of the internal and external disturbances, realize the high stable operation of the servo motor, and has strong robust anti-disturbance ability. Therefore, the problems that the high stable operation of the servo motor is difficult to be ensured and the robust anti-disturbance ability is poor under the influence of the non-ignorable disturbance observation error caused by the large disturbance change frequency in the prior art are solved.

[0025] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A flowchart of an adaptive anti-disturbance terminal sliding mode control method of a servo drive system according to an embodiment of the present application is shown in the figure;

[0028] Figure 2 An algorithm structure framework diagram corresponding to an adaptive anti-disturbance terminal sliding mode control method of a servo drive system according to an embodiment of the present application is shown in the figure;

[0029] Figure 3 A complete structure block diagram of a servo motor speed regulation system according to an embodiment of the present application is shown in the figure;

[0030] Figure 4An execution logic schematic diagram of an adaptive anti-disturbance terminal sliding mode control method of a servo drive system provided for an embodiment of the present application;

[0031] Figure 5 A schematic diagram of a lumped disturbance observation curve obtained by using the disturbance observer and the disturbance filter of the present application under a first load condition provided for an embodiment of the present application;

[0032] Figure 6 A schematic diagram of a speed fluctuation comparison curve of various control strategies under a second load condition provided for an embodiment of the present application;

[0033] Figure 7 A schematic diagram of a lumped disturbance observation curve obtained by using the disturbance observer and the disturbance filter of the present application under a second load condition provided for an embodiment of the present application;

[0034] Figure 8 A schematic diagram of a speed fluctuation comparison curve of various control strategies under a second load condition provided for an embodiment of the present application;

[0035] Figure 9 An example diagram of an adaptive anti-disturbance terminal sliding mode control device of a servo drive system according to an embodiment of the present application;

[0036] Figure 10 A structural schematic diagram of an electronic device provided for an embodiment of the present application.

[0037] Wherein, 10 - an adaptive anti-disturbance terminal sliding mode control device of a servo drive system; 100 - a reading module, 200 - a calculation module, 300 - an execution module; 1001 - a memory, 1002 - a processor, 1003 - a communication interface. DETAILED DESCRIPTION

[0038] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0039] An adaptive anti-disturbance terminal sliding mode control method and device of a servo drive system according to an embodiment of the present application are described below with reference to the accompanying drawings. In view of the problems mentioned in the background art, the present application provides an adaptive anti-disturbance terminal sliding mode control method of a servo drive system. In the method, based on a preset reference speed command, the torque current and the measured motor speed corresponding to the target servo motor speed regulation system in the current servo period are read to obtain the motor filtered speed of the measured motor speed through a preset speed filter. The corresponding driving torque and friction torque are calculated according to the motor filtered speed and the torque current, and the disturbance observer is constructed based on the driving torque, the friction torque and the motor filtered speed to generate the lumped disturbance observation value corresponding to the target servo motor speed regulation system through the disturbance observer, and the lumped disturbance observation value is filtered to obtain the corresponding lumped disturbance filtered observation value, and the speed error and the non-singular terminal sliding surface in the current servo period are calculated based on the motor filtered speed and the reference speed command. Based on the speed error, the non-singular terminal sliding surface and the lumped disturbance filtered observation value, the terminal sliding mode control law is calculated, and the terminal sliding mode control law is converted into the torque current reference command in the current servo period to control the current loop of the target servo motor speed regulation system to perform the corresponding speed regulation operation through the torque current reference command. The adaptive anti-disturbance terminal sliding mode control law in the present application can adaptively enhance the convergence ability of the servo motor speed regulation system to the speed error and the robustness margin to the internal and external disturbances according to the change rate of the filtered disturbance observation value, effectively reduce the motor speed fluctuation amplitude under the action of the internal and external disturbances, realize the high-stable operation of the servo motor, and has strong robust anti-disturbance ability. Specifically, Figure 1 A flowchart of an adaptive anti-disturbance terminal sliding mode control method of a servo drive system according to an embodiment of the present application.

[0040] As shown in Figure 1 , the adaptive anti-disturbance terminal sliding mode control method of the servo drive system includes the following steps:

[0041] In step S101, based on a preset reference speed command, the torque current and the measured motor speed corresponding to the target servo motor speed regulation system in the current servo period are read to obtain the motor filtered speed of the measured motor speed through a preset speed filter.

[0042] In step S102, the corresponding driving torque and friction torque are calculated according to the motor filtered speed and the torque current, and the disturbance observer is constructed based on the driving torque, the friction torque and the motor filtered speed to generate the lumped disturbance observation value corresponding to the target servo motor speed regulation system through the disturbance observer, and the lumped disturbance observation value is filtered to obtain the corresponding lumped disturbance filtered observation value, and the speed error and the non-singular terminal sliding surface in the current servo period are calculated based on the motor filtered speed and the reference speed command.

[0043] The embodiment of the present application can first input a reference speed command to a servo motor speed regulation system In a single servo cycle, torque current i and measured motor speed ω are read from a servo motor driver m .

[0044] Secondly, the embodiment of the present application can design a speed filter to perform first-order low-pass filtering on measured motor speed ω m , as shown in the following formula:

[0045]

[0046] wherein ω f is a filtered motor speed; τ ω is a time constant of the speed filter, which can be taken as 1 ms.

[0047] Thirdly, the embodiment of the present application can use torque current i and filtered motor speed (i.e. filtered motor speed) ω f to calculate driving torque and friction torque of the servo motor speed regulation system, as shown in the following formula:

[0048]

[0049] In the formula, is a calculated value of the driving torque; is a calculated value of the friction torque; K t is a torque coefficient of the servo motor, which is taken as 2.793 N·m / A in the embodiment; and are friction coefficients of a rotating shaft of the servo motor, which are taken as -0.000322 N·m·s 2 / rad 2 , 0.072940 N·m·s / rad and 0.822830 N·m, respectively, in the embodiment.

[0050] Subsequently, the embodiment of the present application can use filtered motor speed ω f , calculated value of the driving torque and calculated value of the friction torque to design a disturbance observer to observe lumped disturbance in the operation of the servo motor online, outputting a lumped disturbance observation value , as shown in the following formula:

[0051]

[0052] In the formula, s ob is a sliding surface of the disturbance observer; is an observation value of filtered motor speed ω f ; is the lumped disturbance observation value in the operation process of the servo motor; u ob is the reaching law of the disturbance observer; k ob and ε ob are the reaching law proportional gain and the reaching law switching gain of the disturbance observer, respectively, which can be taken as 0.5 and 500 in the embodiment of the present application, respectively; sgn(·) is a sign function; J is the total moment of inertia of the servo motor speed regulation system, which can be taken as 0.24318 kg·m 2 in the embodiment of the present application; g ob is the proportional gain of the disturbance observer, which can be taken as -6.0594 in the embodiment of the present application.

[0053] Further, the derivative of the motor speed observation value and the derivative of the lumped disturbance filter observation value are used to calculate the motor speed observation value and the lumped disturbance observation value of the next servo period, as shown in the following formula:

[0054]

[0055] In the formula, is the motor speed observation value of the next servo period; is the lumped disturbance observation value of the next servo period; T servo is the servo period, which can be read from the servo motor driver as 0.5 ms in the embodiment of the present application.

[0056] As an implementable manner, the saturation function sat(·) can be used to replace the sign function sgn(·) in the reaching law u ob of the disturbance observer in the embodiment of the present application, as shown in the following formula:

[0057]

[0058] In the formula, is the boundary layer thickness of the saturation function sat(·), which can be taken as 10 in the embodiment of the present application.

[0059] In addition, the corresponding disturbance filter can be constructed based on the lumped disturbance observation value in the embodiment of the present application, so as to alleviate the chattering phenomenon existing in the lumped disturbance observation value through the disturbance filter, thereby realizing the calculation of the corresponding speed error and the non-singular terminal sliding mode surface of the servo motor speed regulation system.

[0060] Optionally, in an embodiment of the present application, the lumped disturbance observation value is filtered to obtain a corresponding lumped disturbance filtered observation value, and a speed error and a non-singular terminal sliding mode surface in a current servo period are calculated based on a motor filtered speed and a reference speed command, including: constructing a corresponding disturbance filter based on the lumped disturbance observation value and a preset time constant; performing first-order low-pass filtering on the lumped disturbance observation value by using the disturbance filter to obtain the lumped disturbance filtered observation value; and sequentially calculating the speed error and the non-singular terminal sliding mode surface in the current servo period according to the motor filtered speed, the reference speed command, and a preset speed regulation parameter.

[0061] In the process of implementation, the embodiment of the present application can use the lumped disturbance observation value output by the disturbance observer A disturbance filter based on first-order low-pass filtering is designed to alleviate the chattering phenomenon existing in the lumped disturbance observation value and improve the smoothness, as shown in the following formula:

[0062]

[0063] In the formula, is the filtered lumped disturbance observation value; τ D is a time constant of the disturbance filter.

[0064] In the actual execution process, in order to reduce the influence of the disturbance filter on the tracking accuracy of the lumped disturbance observation value , the embodiment of the present application can set the time constant τ D of the disturbance filter, as shown in the following formula:

[0065]

[0066] In the formula, f D is a cutoff frequency of the disturbance filter.

[0067] It should be noted that the embodiment of the present application can calculate the value of the time constant τ ob of the disturbance filter according to the total rotational inertia J and the proportional gain g D of the disturbance observer, and the value of the time constant τ D of the disturbance filter is 0.0398s, and the value of the cutoff frequency f D of the disturbance filter is 4Hz.

[0068] As can be seen, the filtered lumped disturbance observation value (i.e., the lumped disturbance filtered observation value) can only guarantee the observation accuracy of the disturbance with a change frequency less than the cutoff frequency f D of the disturbance filter. For the disturbance with a change frequency close to or greater than the cutoff frequency f D of the disturbance filter, the filtered lumped disturbance observation value There will be a non-negligible amplitude error and phase lag, and it is difficult to guarantee the effect of feedforward compensation. The traditional terminal sliding mode control method based on disturbance observer is difficult to guarantee the high stable operation of the servo motor under the non-negligible disturbance observation error, and the robust anti-disturbance ability is insufficient. Therefore, the embodiment of the present application constructs a new type of adaptive anti-disturbance terminal sliding mode control law algorithm, as shown in Figure 2 .

[0069] After that, the embodiment of the present application can use the filtered motor speed ω f and the reference speed command ω to calculate the speed error e f and the nonsingular terminal sliding surface s f in the servo period in turn, as shown in the following formula:

[0070]

[0071] In the formula, β is the speed regulating parameter of the nonsingular terminal sliding surface s f , which can be taken as 1.689x10 -5 in the embodiment of the present application; p and q are two positive odd numbers, and satisfy 1<p / q<2, which can be taken as 5 and 3 in turn in the embodiment of the present application.

[0072] Therefore, the embodiment of the present application calculates the speed error and the nonsingular terminal sliding surface in the current servo period, thereby providing important data basis for the calculation of the subsequent adaptive anti-disturbance terminal sliding mode control law.

[0073] In step S103, based on the speed error, the nonsingular terminal sliding surface and the lumped disturbance filtered observation value, the terminal sliding mode control law is calculated, and the terminal sliding mode control law is converted into the torque current reference command in the current servo period, so as to control the current loop of the target servo motor speed regulation system through the torque current reference command to perform the corresponding speed regulation operation.

[0074] Further, the embodiment of the present application can calculate the adaptive anti-disturbance terminal sliding mode control law according to the parameters such as the speed error and the nonsingular terminal sliding surface, and convert the control law into the torque current reference command, and input it into the current loop of the servo motor speed regulation system for execution.

[0075] Optionally, in an embodiment of the present application, the mathematical expression of the terminal sliding mode control law is:

[0076]

[0077] Among them, represents the terminal sliding mode control law; T eq represents the equivalent compensation control law; T re represents the power index continuous approaching law; Tdr represents a disturbance rejection attractor; s f represents a nonsingular terminal sliding mode surface; τ ω represents a time constant of a velocity filter; J represents a total moment of inertia of a target servo motor speed regulation system; p and q are two positive odd numbers; β represents a speed regulation parameter of the nonsingular terminal sliding mode surface; represents a derivative of a velocity error in a current servo period; represents a friction torque; represents a lumped disturbance filtered observation; represents a derivative of a filtered velocity of the motor; represents a second derivative of a reference velocity command; η represents a switching gain; ξ represents an uncertainty gain; represents a derivative of the lumped disturbance filtered observation; sgn(·) represents a sign function.

[0078] It is to be noted that the embodiment of the present application can calculate an adaptive disturbance rejection terminal sliding mode control law as shown in the following formula:

[0079]

[0080] wherein, represents a terminal sliding mode control law; T eq represents an equivalent compensation control law; T re represents a power exponential continuous reaching law; T dr represents a disturbance rejection attractor; s f represents a nonsingular terminal sliding mode surface; τ ω represents a time constant of a velocity filter; J represents a total moment of inertia of a target servo motor speed regulation system; p and q are two positive odd numbers; β represents a speed regulation parameter of the nonsingular terminal sliding mode surface; represents a derivative of a velocity error in a current servo period; represents a friction torque; represents a lumped disturbance filtered observation; represents a derivative of a filtered velocity of the motor; represents a second derivative of a reference velocity command; η represents a switching gain, which can be taken as 20 in the embodiment of the present application; ξ represents an uncertainty gain, which can be taken as 0.1 in the embodiment of the present application; represents a derivative of the lumped disturbance filtered observation; sgn(·) represents a sign function.

[0081] After that, the embodiment of the present application can convert the adaptive disturbance rejection terminal sliding mode control law into a torque current reference command i * as shown in the following formula:

[0082]

[0083] Further, the embodiment of the present application can obtain the torque current reference command i * to the current loop of the servo motor speed regulation system to complete the speed control in the servo period, as shown in Figure 3 .

[0084] Therefore, the embodiment of the present application can adaptively enhance the convergence ability of the servo motor speed regulation system to the speed error and the robustness margin to the internal and external disturbances according to the change rate of the filtered disturbance observation value by using the adaptive anti-disturbance terminal sliding mode control law, thereby effectively reducing the motor speed fluctuation amplitude under the action of the internal and external disturbances, realizing the high stable operation of the servo motor, and having strong robust anti-disturbance ability.

[0085] Optionally, in an embodiment of the present application, after the terminal sliding mode control law is converted into the torque current reference command in the current servo period, the method further includes: updating the lumped disturbance observation value and the measured motor speed, and using the updated lumped disturbance observation value and the measured motor speed to perform the corresponding speed regulation operation on the target servo motor speed regulation system in the next servo period in combination with the reference speed command.

[0086] In actual execution process, the embodiment of the present application can update the motor speed observation value and the lumped disturbance observation value as shown in the following formula:

[0087]

[0088] Then, the embodiment of the present application re-reads the torque current and the measured motor speed, and obtains the filtered motor speed through the speed filter to enter the next servo period.

[0089] The execution logic and execution effect of the adaptive anti-disturbance terminal sliding mode control method of the servo drive system of the present application are described below through specific embodiments and in combination with the accompanying drawings.

[0090] 1. Execution logic:

[0091] Figure 4 The execution logic diagram of the adaptive anti-disturbance terminal sliding mode control method of the servo drive system of the present application is shown in Figure 4 . The execution process of the adaptive anti-disturbance terminal sliding mode control method of the servo drive system of the present application is described as follows:

[0092] S401: input the reference speed command;

[0093] S402: In the current servo cycle, read the torque current and the measured motor speed, and obtain the filtered motor speed through the speed filter;

[0094] S403: Calculate the driving torque and the friction torque;

[0095] S404: Construct an interference observer to obtain a lumped interference observation value;

[0096] S405: Construct an interference filter to obtain a filtered lumped interference observation value through the interference filter;

[0097] S406: Calculate the speed error and the nonsingular terminal sliding mode surface;

[0098] S407: Calculate the adaptive anti-terminal sliding mode control law;

[0099] S408: Convert the adaptive anti-terminal sliding mode control law into a torque current reference command, and go to S409 and S4010;

[0100] S409 update the measured motor speed (i.e. motor speed observation value) and the lumped interference observation value, and enter the next servo cycle to re-execute S402:

[0101] S4010: Output the torque current reference command to the current loop of the servo motor speed regulation system for execution.

[0102] 2. Execution effect:

[0103] In the specific embodiments of the present application, in the first load condition, the embodiments of the present application can set the reference speed command to 34.96 rad / s. When the motor speed is stably controlled at the reference speed command, the mean value of the sinusoidal load torque in the running process of the loaded servo motor is 55.3205 N·m, the fluctuation amplitude is 31.6538 N·m, and the change frequency is 1 Hz. During the recording of the running process of the servo motor, the loaded sinusoidal load torque, the lumped interference observation value output by the interference observer and the filtered lumped interference observation value output by the interference filter are plotted as real-time curves, as shown in Figure 5 . As can be seen from Figure 5 , since the change frequency (1 Hz) of the load torque is less than the cutoff frequency f D (4 Hz) of the interference filter, the filtered interference observation value has high observation accuracy for the load torque, small amplitude error and phase lag, and can effectively ensure the effectiveness of the feedforward compensation.

[0104] Under the first load condition, the speed fluctuation comparison curves of the control method proposed in this application and the traditional PI control, traditional sliding mode control and traditional terminal sliding mode control are as follows: Figure 6 As shown. Figure 6 It can be seen that the adaptive anti-disturbance terminal sliding mode control method of the present application can effectively reduce the fluctuation amplitude of the motor speed compared with the traditional method, has a strong robust anti-disturbance capability, and can significantly improve the load speed stability of the servo motor speed control system.

[0105] In the second load condition, the specific embodiment of the present application can set the reference speed instruction When the motor speed is stably controlled at the reference speed command, the sinusoidal load torque during the servo motor operation is loaded, with an average value of 30.8423N·m, a fluctuation amplitude of 21.6293N·m, and a change frequency of 3.75Hz. The sinusoidal load torque loaded during the servo motor operation and the lumped disturbance observation value output by the disturbance observer are recorded. The filtered aggregate interference observation value output by the interference filter Draw real-time curves, such as Figure 7 As shown. Figure 7 It can be seen that when the load torque change frequency (3.75Hz) is close to the cutoff frequency f of the interference filter D (4Hz), the aggregate interference observation value The amplitude error and phase lag of the filtered lumped interference observation value are significantly increased. The observation accuracy further decreases, making it difficult to guarantee the compensation effect for fluctuating load torque. In traditional terminal sliding mode control methods, the above non-negligible observation error will become an additional interference term for the speed error convergence, thereby exacerbating the fluctuation of motor speed.

[0106] Under the second load condition, the speed fluctuation comparison curves of the control method of the present application, traditional PI control, traditional sliding mode control and traditional terminal sliding mode control are as follows: Figure 8 As shown. Figure 8 It can be seen that the adaptive anti-disturbance terminal sliding mode control method of the present application still has the smallest speed fluctuation amplitude under the non-negligible interference observation error caused by large interference variation frequency, and has strong resistance to fluctuating load interference. Traditional terminal sliding mode control methods cannot suppress the additional interference introduced by interference observation error, so they have the largest speed fluctuation amplitude and cannot ensure the stable operation of the servo motor under the influence of interference with large variation frequency, thus proving the effectiveness of the control method of the present application.

[0107] According to the adaptive anti-interference terminal sliding mode control method of the servo driving system provided in the embodiment of the present application, the torque current corresponding to the target servo motor speed regulation system in the current servo period and the measured motor speed are read based on the preset reference speed instruction, so as to obtain the motor filtered speed of the measured motor speed through the preset speed filter; the corresponding driving torque and friction torque are calculated according to the motor filtered speed and the torque current, and the disturbance observer is constructed based on the driving torque, the friction torque and the motor filtered speed, so as to generate the lumped disturbance observation value corresponding to the target servo motor speed regulation system through the disturbance observer, and the lumped disturbance filtered observation value is obtained by filtering the lumped disturbance observation value, and the speed error and the non-singular terminal sliding mode surface in the current servo period are calculated based on the motor filtered speed and the reference speed instruction; the terminal sliding mode control law is calculated based on the speed error, the non-singular terminal sliding mode surface and the lumped disturbance filtered observation value, and the terminal sliding mode control law is converted into the torque current reference instruction in the current servo period, so as to control the current loop of the target servo motor speed regulation system to perform the corresponding speed regulation operation through the torque current reference instruction. The adaptive anti-interference terminal sliding mode control law in the present application can adaptively enhance the convergence ability of the servo motor speed regulation system to the speed error and the robustness margin to the internal and external disturbances according to the change rate of the filtered disturbance observation value, effectively reduce the motor speed fluctuation amplitude under the action of the internal and external disturbances, realize the high-stable operation of the servo motor, and has strong robust anti-interference ability.

[0108] Secondly, the adaptive anti-interference terminal sliding mode control device of the servo driving system provided according to the embodiment of the present application is described with reference to the accompanying drawings.

[0109] Figure 9 is the block schematic diagram of the adaptive anti-interference terminal sliding mode control device of the servo driving system in the embodiment of the present application.

[0110] As Figure 9 shown, the adaptive anti-interference terminal sliding mode control device 10 of the servo driving system includes a reading module 100, a calculation module 200 and an execution module 300.

[0111] The reading module 100 is used for reading the torque current corresponding to the target servo motor speed regulation system in the current servo period and the measured motor speed based on the preset reference speed instruction, so as to obtain the motor filtered speed of the measured motor speed through the preset speed filter.

[0112] The computing module 200 is configured to calculate a corresponding driving torque and a friction torque according to the motor filtered speed and the torque current, and construct an interference observer based on the driving torque, the friction torque and the motor filtered speed, so as to generate a corresponding lumped interference observation value of the target servo motor speed regulation system through the interference observer, filter the lumped interference observation value to obtain a corresponding lumped interference filtered observation value, and calculate a speed error and a non-singular terminal sliding mode surface in a current servo period based on the motor filtered speed and the reference speed command.

[0113] The executing module 300 is configured to calculate a terminal sliding mode control law based on the speed error, the non-singular terminal sliding mode surface and the lumped interference filtered observation value, and convert the terminal sliding mode control law into a torque current reference command in the current servo period, so as to control the current loop of the target servo motor speed regulation system to perform corresponding speed regulation operation through the torque current reference command.

[0114] Optionally, in an embodiment of the present application, the adaptive anti-interference terminal sliding mode control device 10 of the servo drive system further comprises an updating module configured to update the lumped interference observation value and the measured motor speed after the terminal sliding mode control law is converted into the torque current reference command in the current servo period, and use the updated lumped interference observation value and the measured motor speed in combination with the reference speed command to perform corresponding speed regulation operation on the target servo motor speed regulation system in the next servo period.

[0115] Optionally, in an embodiment of the present application, the computing module 200 comprises a constructing unit, a filtering unit and a calculating unit.

[0116] The constructing unit is configured to construct a corresponding interference filter based on the lumped interference observation value and a preset time constant.

[0117] The filtering unit is configured to perform first-order low-pass filtering on the lumped interference observation value by using the interference filter to obtain the lumped interference filtered observation value.

[0118] The calculating unit is configured to sequentially calculate the speed error and the non-singular terminal sliding mode surface in the current servo period according to the motor filtered speed, the reference speed command and a preset speed regulation parameter.

[0119] Optionally, in an embodiment of the present application, the mathematical expression of the terminal sliding mode control law is as follows:

[0120]

[0121] wherein, represents the terminal sliding mode control law; T eq represents the equivalent compensation control law; T re represents the power index continuous approaching law; T drrepresents a disturbance rejection attractor; s f represents a non-singular terminal sliding mode surface; τ ω represents a time constant of a speed filter; J represents a total rotational inertia of a target servo motor speed regulation system; p and q are two positive odd numbers; β represents a speed regulation parameter of a non-singular terminal sliding mode surface; represents a derivative of a speed error in a current servo period; represents a friction torque; represents a lumped disturbance filtered observation value; represents a derivative of a filtered speed of the motor; represents a second derivative of a reference speed command; η represents a switching gain; ξ represents an uncertainty gain; represents a derivative of a lumped disturbance filtered observation value; sgn(·) represents a sign function.

[0122] It should be noted that the foregoing explanation of the adaptive disturbance rejection terminal sliding mode control method for the servo drive system is also applicable to the adaptive disturbance rejection terminal sliding mode control device for the servo drive system, which will not be described here again.

[0123] The adaptive disturbance rejection terminal sliding mode control device for the servo drive system according to the embodiment of the present application comprises a reading module 100 configured to read a torque current corresponding to a target servo motor speed regulation system and a measured motor speed in a current servo period based on a preset reference speed command, so as to obtain a filtered speed of the measured motor speed through a preset speed filter; a calculation module 200 configured to calculate a driving torque and a friction torque corresponding to the filtered speed of the motor and the torque current, and to construct an interference observer based on the driving torque, the friction torque and the filtered speed of the motor, so as to generate a lumped disturbance observation value corresponding to the target servo motor speed regulation system through the interference observer, and to filter the lumped disturbance observation value to obtain a corresponding lumped disturbance filtered observation value, and to calculate a speed error in the current servo period and a non-singular terminal sliding mode surface based on the filtered speed of the motor and the reference speed command; and an execution module 300 configured to calculate a terminal sliding mode control law based on the speed error, the non-singular terminal sliding mode surface and the lumped disturbance filtered observation value, and to convert the terminal sliding mode control law into a torque current reference command in the current servo period, so as to control a current loop of the target servo motor speed regulation system to perform a corresponding speed regulation operation through the torque current reference command. The adaptive disturbance rejection terminal sliding mode control law in the present application can adaptively enhance the convergence ability of the servo motor speed regulation system to the speed error and the robustness margin to internal and external disturbances according to the change rate of the filtered interference observation value, effectively reduce the motor speed fluctuation amplitude under the action of internal and external disturbances, realize high-stable operation of the servo motor, and has strong robust anti-disturbance capability.

[0124] Figure 10A structural schematic diagram of an electronic device is provided for an embodiment of the present application. The electronic device can include

[0125] The memory 1001, the processor 1002 and the computer program stored in the memory 1001 and executable on the processor 1002.

[0126] The processor 1002 implements the adaptive anti-disturbance terminal sliding mode control method of the servo drive system provided in the above embodiments when executing the program.

[0127] Further, the electronic device further includes

[0128] The communication interface 1003 is used for communication between the memory 1001 and the processor 1002.

[0129] The memory 1001 is used to store the computer program executable on the processor 1002.

[0130] The memory 1001 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0131] If the memory 1001, the processor 1002 and the communication interface 1003 are independently implemented, the communication interface 1003, the memory 1001 and the processor 1002 can be connected to each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 10 Only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0132] Optionally, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 1003 can complete communication between each other through an internal interface.

[0133] The processor 1002 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or a plurality of integrated circuits configured to implement one or more embodiments of the present application.

[0134] The embodiments of the present application further provide a computer readable storage medium, which has stored thereon a computer program, and the computer program is executed by a processor to implement the adaptive anti-disturbance terminal sliding mode control method of the servo drive system.

[0135] The embodiments of the present application further provide a computer program product, which comprises a computer program, and the computer program is executed to implement the adaptive anti-disturbance terminal sliding mode control method of the servo drive system.

[0136] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0137] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0138] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing one or N executable steps, code segments, or portions of a computer program, and the scope of the preferred embodiments of the present application includes additional implementation in which the functions described are performed in an order different from that shown or discussed, including functions performed in substantially simultaneous, or in reverse order, as appropriate, to the functionality involved, as would be understood by one skilled in the art.

[0139] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0140] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0142] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0143] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An adaptive anti-disturbance terminal sliding mode control method for a servo drive system, characterized in that: The following steps are involved: Based on a preset reference speed command, the torque current and the measured motor speed corresponding to the target servo motor speed control system in the current servo cycle are read to obtain the motor filter speed of the measured motor speed through a preset speed filter; Calculating the corresponding driving torque and friction torque according to the motor filter speed and the torque current, and constructing a disturbance observer based on the driving torque, the friction torque, and the motor filter speed to generate a lumped disturbance observation value corresponding to the target servo motor speed control system through the disturbance observer, filtering the lumped disturbance observation value to obtain a corresponding lumped disturbance filter observation value, and calculating the speed error and non-singular terminal sliding mode surface in the current servo cycle based on the motor filter speed and the reference speed command; Based on the speed error, the non-singular terminal sliding mode surface and the lumped interference filter observation value, a terminal sliding mode control law is calculated, and the terminal sliding mode control law is converted into a torque current reference instruction within the current servo cycle, so as to control the current loop of the target servo motor speed control system to perform a corresponding speed regulation operation through the torque current reference instruction.

2. The method according to claim 1, characterized in that After converting the terminal sliding mode control law into the torque current reference instruction in the current servo cycle, the method further includes: The lumped disturbance observation value and the measured motor speed are updated, and the updated lumped disturbance observation value and the measured motor speed are used in combination with the reference speed instruction to perform a corresponding speed regulation operation on the target servo motor speed regulation system in the next servo cycle.

3. The method according to claim 1, characterized in that The filtering of the lumped disturbance observation value to obtain a corresponding lumped disturbance filtered observation value, and calculating the speed error and the non-singular terminal sliding mode surface in the current servo cycle based on the motor filtered speed and the reference speed command, includes: Constructing a corresponding interference filter based on the aggregated interference observation value and a preset time constant; Performing a first-order low-pass filter on the aggregated interference observation value using the interference filter to obtain the aggregated interference filtered observation value; The speed error and the non-singular terminal sliding mode surface in the current servo cycle are calculated in sequence according to the motor filter speed, the reference speed instruction and the preset speed regulation parameters.

4. The method according to claim 1, wherein The mathematical expression of the terminal sliding mode control law is: in, represents the terminal sliding mode control law; T eq represents the equivalent compensation control law; T re represents the continuous approach law of power exponent; T dr represents the disturbance-resistant attractor; s f represents the non-singular terminal sliding surface; τ ω represents the time constant of the speed filter; J represents the total moment of inertia of the target servo motor speed control system; p and q are two positive odd numbers; β represents the speed control parameter of the non-singular terminal sliding mode surface; Indicates the derivative of the velocity error in the current servo cycle; represents the friction torque; represents the aggregated interference filtered observation value; represents the derivative of the motor filtered speed; represents the second-order derivative of the reference speed command; η represents the switching gain; ξ represents the uncertainty gain; represents the derivative of the lumped interference filtered observation; sgn(·) represents the sign function.

5. An adaptive anti-disturbance terminal sliding mode control device for a servo drive system, characterized in that: include: A reading module is used to read the torque current and the measured motor speed corresponding to the target servo motor speed control system in the current servo cycle based on a preset reference speed command, so as to obtain the motor filtering speed of the measured motor speed through a preset speed filter; a calculation module, configured to calculate a corresponding driving torque and a friction torque according to the motor filter speed and the torque current, and construct a disturbance observer based on the driving torque, the friction torque, and the motor filter speed, so as to generate a lumped disturbance observation value corresponding to the target servo motor speed control system through the disturbance observer, filter the lumped disturbance observation value to obtain a corresponding lumped disturbance filter observation value, and calculate a velocity error and a non-singular terminal sliding mode surface within the current servo cycle based on the motor filter speed and the reference speed command; An execution module is used to calculate a terminal sliding mode control law based on the speed error, the non-singular terminal sliding mode surface and the lumped interference filter observation value, and convert the terminal sliding mode control law into a torque current reference instruction within the current servo cycle, so as to control the current loop of the target servo motor speed control system to perform a corresponding speed regulation operation through the torque current reference instruction.

6. The device according to claim 5, characterized in that Also includes: An updating module is configured to update the lumped disturbance observation value and the measured motor speed after converting the terminal sliding mode control law into a torque current reference instruction within the current servo cycle, and utilize the updated lumped disturbance observation value and the measured motor speed in combination with the reference speed instruction to perform a corresponding speed adjustment operation on the target servo motor speed control system within the next servo cycle.

7. The device according to claim 5, characterized in that The mathematical expression of the terminal sliding mode control law is: in, represents the terminal sliding mode control law; T eq represents the equivalent compensation control law; T re represents the continuous approach law of power exponent; T dr represents the disturbance-resistant attractor; s f represents the non-singular terminal sliding surface; τ ω represents the time constant of the speed filter; J represents the total moment of inertia of the target servo motor speed control system; p and q are two positive odd numbers; β represents the speed control parameter of the non-singular terminal sliding mode surface; Indicates the derivative of the velocity error in the current servo cycle; represents the friction torque; represents the aggregated interference filtered observation value; represents the derivative of the motor filtered speed; represents the second-order derivative of the reference speed command; η represents the switching gain; ξ represents the uncertainty gain; represents the derivative of the lumped interference filtered observation; sgn(·) represents the sign function.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the adaptive anti-disturbance terminal sliding mode control method for the servo drive system according to any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the adaptive anti-disturbance terminal sliding mode control method for a servo drive system according to any one of claims 1 to 4.

10. A computer program product comprising a computer program, characterized in that The computer program is executed to implement the adaptive anti-disturbance terminal sliding mode control method for the servo drive system according to any one of claims 1 to 4.

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