The invention provides a discrete repetition control method for a motor servo system based on an elliptical attraction law and equivalent disturbance expansion state compensation. A reference signal which is symmetrical periodically is generated in a given link; a period feedback link is constructed; according to a discrete time elliptical attraction law, equivalent disturbance compensation is introduced to the attraction law, the compensation amount is given by a disturbance expansion observer, an e/v signal conversion module is constructed, and the output signal is used for the correction amount of a repetition controller; and the output signal of the repetition controller is further calculated as control signal input of a controlled object. Influences of the value of a controller parameter to a system tracking error convergence process are given. Specific controller parameter turning can be performed according to a representation system convergence performance index. Furthermore theinvention provides a calculating method which represents a monotonic decreasing area of the error convergence process, an absolute attraction layer and a steady state error band boundary. The discrete repetition control method of the invention has the advantages of quick convergence performance, disturbance inhibition acceleration and high control precision.

Discrete repetition control method for motor servo system based on elliptical attraction law and equivalent disturbance expansion state compensation

The invention relates to a flexible servo control method for an industrial robot. The flexible servo control method comprises the steps of establishing a dynamic compensation model, performing joint gravity compensation with a recursive Newton-Euler inverse dynamics algorithm, and enabling joints to be at the gravity balancing state; establishing a friction compensation model, wherein in the static state, the model is established in the form that an amplitude is added to the joints through force feedforward, and is close to a high-frequency dithering signal of a static friction field; designing a chattering signal, and enabling a motor position chattering amplitude to trace a reference chattering amplitude through closed loop integral control; and compensating for integral feedback residual values through a switching transition process. The flexible servo control method provided by the invention is applicable for universal industrial robot control systems, and on the premise that the assembly cost does not need to be increased, the flexible servo control method can be widely applied to small-range and high-precision working sites.

Flexible servo control method for industrial robot

The invention discloses a motor servo system error symbol integral robust adaptive control method comprising the following steps of establishing a motor position servo system model; designing an error symbol integral robust adaptive controller; based on the error symbol integral robust adaptive controller, conducting stability proving of the stability of the motor servo system through utilization of the Lyapunov stability theory; and using the Barbalat lemma to obtain the global asymptotic stability result of the system. According to the invention, an error symbol integral robust adaptive anti-interference controller based on parameter self-adaptation is proposed for the parameter uncertainty and unknown non-linear factors in a motor servo system. The parameter adaptive rate can effectively estimate unknown parameters in the system, and error symbol integral robust terms are adopted to overcome other uncertain nonlinear factors in the system, thereby ensuring the control precision in the motor servo system.

A motor servo system error symbol integral robust adaptive control method

The invention discloses an adaptive error symbol integration robust repetitive control method for an electromechanical servo system, which comprises the steps of establishing a mathematical model of the electromechanical servo system; constructing a system design model; and designing an adaptive error symbol integration robust repetitive controller and a performance theorem and stability certification of the adaptive error symbol integration robust repetitive controller. The control method disclosed by the invention can enable the electromechanical servo system to acquire semi-global progressive tracking performance. In addition, compared with a traditional internal mold principle based linear respective control method, the adaptive error symbol integration robust repetitive control method can also effectively reduce the sensibility of the repetitive controller for noises and avoid a high memory requirement of the controller.

Adaptive error symbol integration robust repetitive control method for electromechanical servo system

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Adaptive error symbol integration robust repetitive control method for electromechanical servo system