Design And Implementation Of Adaptive Robust Dynamic Tracking Controller For Electromechanical Servo System

The dynamic tracking accuracy of the electromechanical servo system is affected by structural uncertainty(parameter fluctuations)and unstructured uncertainty(unmodeled dynamics,external interference,nonlinear friction).Adaptive robust control is an advanced control method that solves the problem of uncertain control.It has been applied in many fields.However,when the dynamic tracking accuracy is high,this method is not accurate enough for the disturbance identification accuracy,which leads to the system’s failure.The dynamic tracking accuracy is not ideal.The extended state observer is used to observe disturbances in active disturbance rejection control.Taking the electromechanical servo system as the research background,this paper proposes an adaptive robust control method based on the extended state observer.The extended state observer is used to observe the disturbance and compensate it,and the adaptive robust control is used to improve the dynamic tracking performance of the system.On the basis of theoretical research work,the thesis completed simulation and physical experiment verification,which proved the effectiveness of the method.The main research contents of the thesis are as follows:Firstly,the standard problem of adaptive robust control is explained,and adaptive robust control is applied to the second-order system.Designing an adaptive robust controller,theoretical analysis and simulation verification show that the adaptive robust control does not have high accuracy in identifying the uncertainty in the system,which leads to unsatisfactory dynamic tracking performance of the system.Secondly,on the basis of theoretical analysis of system disturbance composition.Linear extended state observer and the nonlinear extended state observer,the expressions of two extended state observers are given,the parameters of the two extended state observers are adjusted by the bandwidth method,and the stability of the two extended state observers is analyzed.Thirdly,the extended state observer is combined with the adaptive robust control,the adaptive robust control structure and the expression of the control law based on the extended state observer are given,and the stability of the control method is analyzed.Under a variety of experimental conditions,the improved adaptive robust control and classical control dynamic tracking simulation experimental results were compared and analyzed.Finally,with a typical electromechanical servo system-simulation turntable as the application object,an improved adaptive robust controller was designed,and the experimental verification was completed under the experimental conditions of different sinusoidal input commands and various disturbances,and compared with the classical control results.Ratio,proves the effectiveness of the thesis method.