用于伺服料系统的滑动模式控制器的设计基于一般化的扩展状态观察员,具有强化学习
Anning Wang1,2, Xianying Feng3,4, Haiyang Liu5,2
1School of Software, Shandong University, Jinan, 250061, China.
Scientific reports
|October 24, 2024
概括
本研究引入了用于高精度伺服料系统的先进的滑动模式控制器,通过使用新型观察器和深度强化学习有效管理系统不确定性和非线性摩擦来提高跟踪精度.
科学领域:
- 控制工程 控制工程 控制工程
- 机器人技术 机器人技术 机器人技术
- 机械电子学是什么意思 机械电子学
背景情况:
- 高精度伺服料系统由于非线性摩擦,系统不确定性和外部干扰而面临性能下降.
- 实现卓越的跟踪精度对于先进的制造和科学仪器仪表至关重要.
研究的目的:
- 设计一个强大的滑动模式控制器,用于双轴差异微量供应系统 (TDMS).
- 通过减轻非线性摩擦和系统不确定性来提高跟踪精度.
主要方法:
- 为TDMS建立了一个灵活的双质驱动模型 (FTMDM).
- 为了估计系统干扰,开发了一个通用扩展状态观察器 (GESO).
- 基于GESO的滑动模式控制器 (SMC) 被设计出来,并通过利亚普诺夫理论证明了稳定性.
- 双批评深确定性政策梯度 (DCDDPG) 算法用于GESO的动态参数优化.
主要成果:
- GESO证明了有边界的观测错误,并提高了估计非线性摩擦的准确性.
- 拟议的控制器在有限时间内将错误趋于零.
- DCDDPG有效地减少了步骤和正弦信号的观测误差.
- 实验结果证实,TDMS的位置跟踪性能得到了提高.
结论:
- 集成的GESO和DCDDPG方法显著提高了高精度伺服料系统的跟踪精度.
- 这种控制策略为受非线性和不确定性影响的复杂动态系统提供了强大的解决方案.
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