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AC position servo system interference observation and compensation method

A technology of servo system and compensation method, which is applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as low-speed crawling, poor adaptability to load changes, weak anti-interference ability, etc., and achieve easy control, interference suppression, achieve simple effects

Inactive Publication Date: 2007-11-28
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0003] In the traditional control system, the PID control method is usually used to suppress the above-mentioned disturbances, but this method has weaknesses such as poor adaptability to load changes, weak anti-interference ability, and susceptibility to system parameter changes.
Due to the existence of the integral link, PID and PI are not effective in suppressing alternating interference, and there will be limit cycles and low-speed crawling for static friction.
If pure PD control is adopted, there will be static error for step disturbance, and precise position control cannot be achieved

Method used

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  • AC position servo system interference observation and compensation method

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Embodiment Construction

[0014] As shown in Figure 1, P(s) represents the actual system, P n (s) represents the nominal model, u is the external input of the system, d is the interference item, is the estimated value of d, ξ is the measurement noise, Q(s) is a low-pass filter whose relative order is greater than or equal to P n The relative order of (s). DOB applies the difference between the actual system output and the nominal model output as an equivalent disturbance to the nominal model. It estimates the equivalent disturbance and feeds it back to the input as a compensation signal.

[0015] In order to understand the principle of the whole system based on the disturbance observer, we can first set Q(s)=1, get δ ^ = d ^ = ( 1 - P n ( s ...

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Abstract

The invention discloses an observing and compensating method of disturbance in three-phase asynchronous motor complexor controlling slave system, which is characterized by the following: combining disturbance observer (DOB) and PID controlling method; inhibiting disturbance in the system; adopting di-closed-loop structure of position loop and electric current loop for slave system; designing disturbance observer (DOB) in the position loop faced to electric current loop; adopting PI to control for the electric current loop; adopting PD to control for the position loop. This invention possesses simple realization, simple method and easy control, which disturbance observer (DOB) possesses the advantages of quick response and separate adjustment.

Description

technical field [0001] The invention relates to a three-phase asynchronous motor servo system, in particular to a disturbance observation and compensation method in a vector control AC servo system. Background technique [0002] In the AC position servo system, interference is the main factor that causes the degradation of the system servo performance and must be suppressed. In the position servo system, the interference mainly comes from the following sources: (1) the error between the identified nominal model and the actual controlled object, and the structural uncertain factors ignored in the modeling process of the electromechanical servo system; (2) the system is in the External disturbances such as sudden load changes and changes in the working environment during operation; (3) load torque disturbances caused by static friction and Coulomb friction (non-linear friction). [0003] In the traditional control system, the PID control method is usually used to suppress the...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
Inventor 王永秀梅志千李向国高敏
Owner HOHAI UNIV CHANGZHOU
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