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Method for automatically adjusting speed loop control parameters of alternating-current servo system based on inertia identification

A technology of parameter self-tuning and system speed, applied in vector control system, single motor speed/torque control, control system, etc., can solve problems such as poor performance of closed-loop system and system instability, and achieve good adaptability and design simple effect

Active Publication Date: 2011-03-23
SOUTHEAST UNIV +1
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Problems solved by technology

In some applications, such as the winding machine control system, as the winding machine winds, the total inertia converted to the motor also increases. When the inertia increases, if the controller parameters remain unchanged, the closed-loop system The performance of the system will deteriorate, and even cause the system to be unstable

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Embodiment Construction

[0033]The accompanying drawing discloses a non-restrictive structural schematic diagram of a preferred embodiment involved in the present invention, and the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings. In addition, this embodiment is implemented on the premise of the technical solution of the invention, and detailed implementation methods and specific implementation processes are given, but the protection scope of the present invention is not limited to the following embodiments.

[0034] The self-tuning method of the control parameters of the AC servo system based on inertia identification in the present invention first takes the current loop and the servo motor as generalized objects, and obtains the estimated value of the moment of inertia of the servo motor and its load through inertia identification; then adopts the pole configuration method, PID controller parameters for speed loop and Per...

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Abstract

The invention discloses a method for automatically adjusting speed loop control parameters of an alternating-current servo system based on inertia identification, which comprises the following steps: firstly, a current loop and a servo motor are used as generalized objects, and estimated values of the servo motor and the rotary inertia loaded on the servo motor are obtained by the inertia identification based on a disturbance torque observer; and then a pole collocation method is adopted to adjust proportion parameters and integral parameters of a speed loop proportion integration differentiation (PID) controller automatically. In method for automatically adjusting the speed loop control parameters of the alternating-current servo system based on inertia identification provided by the invention, by combining the inertia identification algorithm based on the disturbance torque observer with the characteristics of an alternating-current servo system, auto-adjustment of the speed loop PID parameters for the alternating-current servo system can be realized under different rotary inertias. Engineers do not need to set and adjust the controller parameters manually according to the experience and the system can automatically carry out the auto-adjustment of the speed loop parameters. Compared with the prior art, the method for automatically adjusting the speed loop control parametersof the alternating-current servo system based on inertia identification is simple in design principle, and has the advantages of good adaptability under the condition that the inertia change of the external load equipment is obvious, and the like.

Description

technical field [0001] The invention relates to a method in the field of motion control, in particular to a method for realizing the self-tuning of parameters of a speed loop PID controller by using an inertia identification technology. Background technique [0002] With the rapid development of modern science and technology, especially the great progress of power electronics technology, microelectronics technology, digital control technology and modern motor control theory, favorable conditions have been created for the development of AC servo system, especially in robotics, aerospace, For fields such as CNC machine tools that require high motor performance and control precision, AC servo systems have received more and more attention. [0003] At present, the permanent magnet synchronous motor AC servo speed control system mostly adopts a double closed-loop control structure, that is, the inner loop is a current control loop, and the outer loop is a speed control loop. Mos...

Claims

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Application Information

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IPC IPC(8): H02P6/08H02P21/14
Inventor 李世华顾浩吴波吴蔚廖富全
Owner SOUTHEAST UNIV
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