Research On High Precision Motion Control Method Of Electromechanical Actuation System Based On System Disturbance Adaptive Identification And Suppression

As the electromechanical actuation system enters an important stage of development,the related control requirements of the system are further improved.Due to the existence of various internal and external complex disturbance factors,the system disturbance in the precision electromechanical actuation system appears,which seriously affects the control performance of the system.Aiming at the key issue of how to eliminate the influence of system disturbances on control performance,this paper conducts research work from the following aspects:1.Design of experimental platform for electromechanical actuation system,analysis of disturbance factors and establishment of mathematical modeling.For the electromechanical servo actuation system,firstly,formulate the overall design plan and design index of the experimental platform,analyze and check the key components and select the components according to the index and plan.Secondly,analyze the internal and external disturbance factors that cause the electromechanical actuation.To study the formation mechanism of torque ripple caused by the above disturbance factors.Finally establish the dynamic model of the system to prepare for the subsequent controller design.2.Research on the control method of electromechanical actuation system based on friction compensation.The friction nonlinearity that has a greater impact on the electromechanical actuation system under low-frequency and low-speed conditions,the friction is carried out by selecting a precise and appropriate friction model,and using the design observer to observe the model parameters and curve fitting methods to obtain the model parameters.The controller is designed based on the model to achieve the purpose of accurately compensating the frictional nonlinearity of the electromechanical actuation system.3.Research on disturbance suppression method of electromechanical actuation system based on neural network of cerebellum model.First of all,use the approximation characteristics of the traditional cerebellar model neural network and the improved cerebellar model neural network to design observers respectively to estimate various disturbances that cannot be accurately modeled,then design a composite control algorithm based on adaptive robustness and cerebellar model neural network.The feedforward compensation for disturbance estimation improves the anti-interference ability of the system and thus improves the control accuracy.4.Experimental research.The control algorithm is transplanted to the experimental platform controller to test the suppression effect of the proposed control strategy on the actual disturbance in the system,which provides a reference for improving the control performance of the electromechanical servo actuation system.