Dynamic Modeling and Control Strategy of Mechatronics Servo System

A high fidelity dynamic model is constructed to address the nonlinearity, parameter uncertainty, and external disturbances in mechatronic servo systems. A self disturbance rejection control strategy combining proportional integral derivative and extended state observer is proposed. The dynamic model comprehensively considers the electrical characteristics of the motor, shaft stiffness, and rotational inertia parameters, as well as key nonlinear factors such as dead zone saturation, friction, and gear backlash. The self disturbance rejection control strategy of the servo system achieves high-precision and robust adaptive control of the servo system by real-time estimation and compensation of the total system disturbance. The simulation findings denote that when the output shaft stiffness increases from 50% to 200%, the first-order resonant frequency of the system increases from 562rad/s to 1687rad/s, with a peak amplitude of 12.61dB. At a tooth gap of 0.05, the proposed control strategy reduces the tracking error to 0.039°, which is better than the traditional control strategy of 0.051°. Under external wind speed interference, the proposed control strategy exhibits superior disturbance resistance and robustness, with pitch angle control accuracy maintained above 42.88° at different wind speeds, significantly better than traditional control methods. The findings denote that the established model can accurately characterize the dynamic characteristics of the system, and the designed control strategy greatly enhances the tracking accuracy and anti-interference ability of the system, providing theoretical support and solutions for the design and control of high-performance servo systems.