Research On Positive Real Control Methods And Application Of Mechatronic Servo Systems

Positive realness method is a concept abstracted from energy consuming network,and it is an important tool in robust control,adaptive control and system stability design.Aiming at the problem of tracking accuracy and anti-interference in electromechanical servo system,this paper proposes to introduce positive real control technology into electromechanical servo control system.Positive real control is to design the stability of the system from the point of the view of phase.Through the composite control,the system can meet the requirements of tracking performance,and robust positive real controller is designed to keep good anti-interference performance,so as to meet the needs of industrial production and life.Therefore,this subject takes electromechanical servo turntable as the background,introduces positive real control technology to design the control system and explores relevant design problems in the practical application process.Firstly,the design method of positive real controller for linear system is given.By means of state feedback,the positive realness of the closed-loop system is obtained.The existence condition of the controller based on the Luenberger observer is derived.The form of the controller solution is given based on the linear matrix inequality method.Then by introducing feedforward control and compensating design based on instruction input,the tracking characteristics of the system can be improved.Secondly,the design method of robust positive real controller for uncertain system is discussed.The description form of the robust positive real problem for the uncertain system is given,the existence condition and design method of the robust positive real controller for the uncertain system are given through the positive real lemma,and the feedforward control is introduced to ensure the robust performance of the closed-loop system.Finally,the positive real controller design of electromechanical servo system is completed.The parameter determination methods of the state feedback positive real controller and the observer-based state feedback positive real controller are given.The parameter form of robust positive real controller is given for external disturbance,and the simulation results of system performance index are given.