Servo system control method based on relay feedback

A technology of servo system and control method, applied in the direction of motor control, control system, electrical components, etc., can solve problems such as unfavorable practical application

Active Publication Date: 2010-08-18
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
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Problems solved by technology

However, this method has certain requirements for the parameter selection of the identification algorithm, which is unfavorable for practical applications.

Method used

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  • Servo system control method based on relay feedback
  • Servo system control method based on relay feedback
  • Servo system control method based on relay feedback

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0046] The servo system of this embodiment is Yaskawa SGMAH-A5AAA41 AC servo motor and supporting servo controller SGDM-A5ADA. This embodiment includes the following steps:

[0047] Step 1: Set the servo system to torque control mode, and set the upper limit of the servo system's operating speed ω u =3000rpm, the lower limit of the servo system's movement speed ω l =600rpm, relay delay d=25ms, initial amplitude h 0 = 5000 and initial motion time t 0 = 10ms.

[0048] Step 2, at the initial motion time t 0 = Within 10ms, use the initial amplitude as h 0 The relay of =5000 performs the first motion control on the servo system, and obtains the speed ω of the servo system at the end of the first motion control 0 = 500rpm.

[0049] The input curve obtained in this motion control is as follows: figure 1 As shown in (a), the response curve is as figure 1 (b) shown.

[0050] Step 3, give the servo system a pulse command to make the servo system move slightly, within the delay ...

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Abstract

The invention relates to a servo system control method based on relay feedback, belonging to the technical field of motion control. The method comprises the following steps of: controlling a servo system for the first time by using a relay with an initial amplitude value to acquire a rotation rate after initial motion time; acquiring a relay amplitude value corresponding to the upper limit and the lower limit of the rotation rate according to the motion information of the first time, and respectively carrying out motion control on the servo system for the second time and the third time under the amplitude value through the relay in a time delay mode to acquire a stable response amplitude and a stable response cycle; identifying system model parameters and a dry friction magnitude according to the motion information of the second time and the third time; and carrying out optimization of control parameters and feedforward compensation of dry friction based on the identified parameters. The method of the invention can be used for quickly optimizing controller parameters and realizing effective compensation of friction, thereby improving the control accuracy of the servo system.

Description

technical field [0001] The invention relates to a method in the technical field of motion control, in particular to a servo system control method based on relay feedback. Background technique [0002] Servo system has been widely used in modern industry, and its closed-loop control structure can get precise position and speed control. The traditional servo system control adopts cascade PID control method, and there are two basic methods for parameter debugging: 1. Direct debugging method, such as ZN method and improved ZN method; 2. Model-based methods, such as amplitude-phase margin method and pole configuration method, etc. In the model-based method, the system including external disturbances is first approximated into a linear model, and then the control parameters are adjusted according to the model. This method is effective when the accuracy requirement is not high. However, when the accuracy requirement increases, the interference needs to be compensated. [0003] F...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P29/00
Inventor 吴建华熊振华丁汉盛鑫军刘佳朱向阳
Owner SHANGHAI JIAO TONG UNIV
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