Nonlinear Controller Designs And Experiments For Servo Systems

Servo system usually completes the fast and high precision motion control task and it is widely used in CNC machine tools,mechanical packaging,testing equipment and other fields.However,due to the uncertainties such as load disturbance,unmodeled dynamics and internal disturbance in the servo system,it is difficult for the PID control method widely used in the servo system to achieve high precision control of the servo system.In this thesis,the nonlinear control method of the servo system is studied to improve the control performance of the servo system,aiming at the inherent nonlinearity and strong coupling of the servo system and the disturbance of different degrees received during the operation.The main research contents of this thesis are as follows:(1)For uncertain systems with disturbances,the sliding mode control and adrc are studied,and the feasibility of the sliding mode control method and the effective control of system disturbances by the extended state observer in adrc are verified by numerical simulation.(2)In view of the uncertain systems containing disturbance,disturbance of system,structure of equivalent disturbance,and then to attract law method with equivalent disturbance compensation feedback controller is designed,and deduce the monotone decreasing region,absolutely attract layer,the concrete expression of the steady-state error,used to depict the tracking error of the transient and steady-state performance,can also be used to guide the setting parameters of the controller,the numerical simulation verify the accuracy of three boundary value;In order to improve the system control performance,combined with the immunity control method,disturbance observer is designed to estimate the system disturbance,the observed value control method is used to attract law disturbances rejection measures,with equivalent disturbance compensation feedback controller is designed,and experiments show that the disturbance observer can effectively estimate equivalent disturbance,using the equivalent disturbance compensation feedback controller can improve the control precision of system.Possible periodic disturbance of the system,in view of the existence of periodic disturbance control system,control method and the repetitive control technique,combination attract law designed repetitive controller,and through numerical simulation experiment,compared with a feedback controller,repetitive controller based on attraction law design can eliminate the influence of periodic disturbance.(3)The adaptive robust control method based on integral adaptive law is studied for systems with parameter uncertainty and disturbance uncertainty.For integral adaptive law in practice,the problem of discrete approximation of the adaptive strategy,put forward a kind of increment with similar Barbalat lemma,proves the convergence as a result,the increment of adaptive system for parameter uncertain systems design a kind of incremental adaptive robust controller,the simulation experiments verify the adaptive law is incremental effective estimation of system parameters and robust controller the effective control of the disturbance.(4)Based on permanent magnet synchronous motor servo drive and DSP2812,ELMO development board has set up a platform servo system experiment,through the identification of simplifying the experimental platform for the second order model,realized adrc in experimental platform,based on the law of feedback controller and repetitive controller,increment of the adaptive robust controller tracking control experiments,disturbance observer is proved,repetitive controller can effectively restrain disturbance and parameter adaptive law can effectively estimate system,improve the control performance of the system.(5)Based on brushless dc motor,rotating wings,STM32 series chips and gyroscope structures,the two rotor system experimental platform,the modeling of two rotor systems,to simplify the system platform for the second order model,on the second rotor experiment platform to achieve the sliding mode controller(adrc),an adaptive robust tracking control experiments of the controller,to verify the disturbance observer is effectively suppressed,the interference adaptive law effective estimation of system parameters,can improve the control performance of system.