Relay feedback based AC servo system automatic setting method

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 ...

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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.

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