Research on the backstepping adaptive control strategy for swing nozzle based on virtual nonlinear load compensation

In order to achieve high-precision control of the attitude of swinging nozzle, considering the presence of nonlinear load moments on the swinging nozzle, this paper proposes a control method based on a permanent magnet synchronous motor (PMSM) for driving the swinging nozzle. An online parameter adaptive approach is employed to estimate the motor parameters as well as the various load moment parameters of the swinging nozzle. Utilizing a backstepping control algorithm, the control voltage for the permanent magnet synchronous motor is determined. This approach allows for rapid updates of system parameters based on adaptive methods when disturbances occur in the load, changes in load moments, or variations in system parameters. Consequently, it effectively enhances the robustness, response speed, and control precision of the servo system.