Relay feedback based AC servo system automatic setting method

A technology of AC servo and relay feedback, which is applied to the estimation/correction of motor parameters, etc., and can solve the problems that the AC servo system with high response speed cannot form stable oscillation and the three-loop control strategy is not applicable

Inactive Publication Date: 2009-10-07
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

However, this method can only be applied to servo systems with large delays, such as hydraulic motors, and cannot form stable oscillations for AC servo systems with high response speeds.
In addition, the tuning method of PID parameters is not suitable for the three-loop control strategy in industrial applications.

Method used

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  • Relay feedback based AC servo system automatic setting method
  • Relay feedback based AC servo system automatic setting method
  • Relay feedback based AC servo system automatic setting method

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Embodiment Construction

[0040] Below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail: present embodiment implements under the premise of technical solution of the present invention, has provided detailed implementation mode and specific implementation process, but protection scope of the present invention is not limited to following Example.

[0041] In this embodiment, the PID parameter tuning method provided by the present invention is applied to a model of a typical AC servo motor widely used in research. The specific transfer function of the model is as follows:

[0042] G p ( s ) = 16000 1.029 s + 1 e - 0.002 s

[0043] This embodiment includes the following steps: ...

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Abstract

A relay feedback based AC servo system automatic setting method belonging to the motion control technology field comprises a speed ring setting process and a position ring setting process. The method comprises the following steps: setting the parameters of saturated relay with delay; bringing the relay identification link into the closed speed ring (or position ring) to cause the system to establish a limit ring quickly; evaluating the system delay and the limit oscillation period parameter; identifying the AC servo system model; and setting the PID control parameter automatically by the PID parameter setting principle such as pole assignment method and amplitude phase margin method according to the identified model parameters; By combining the saturated relay feedback and he PID parameter setting principle such as ITAE method and amplitude phase margin method, the invention can accomplish the parameter automatic setting to the controller of AC servo motor.

Description

technical field [0001] The invention relates to a method in the technical field of motion control, in particular to an AC servo system self-tuning method based on relay feedback. Background technique [0002] Modern industry requires that the AC servo system has a strong anti-interference ability to ensure stable operation and achieve the desired torque, speed and displacement target values, that is, the system must be sufficiently robust to all disturbances, so a reasonable and effective control strategy is adopted very important. In industrial applications, the three closed-loop control structure of position loop, speed loop and current loop is the most commonly used control form of AC servo system, and in each control loop, PID control is the most widely used controller. The PID controller has appeared as early as the late 1930s. It is precisely because the PID controller has the advantages of simple principle, convenient use, and strong robustness, which makes it still ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/14
Inventor 熊振华黄勇强吴建华盛鑫军丁汉
Owner SHANGHAI JIAO TONG UNIV
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