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Sliding mode control method for servo motor with measurement delay output

A technology of servo motor and control method, which is applied in the direction of motor generator control, electronic commutation motor control, vector control system, etc., can solve the problem of needing speed feedback signal, without considering the delay of the angle sensor of the servo motor system, etc.

Inactive Publication Date: 2012-07-18
GUODIAN NANJING ELECTRIC POWER TEST RES CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The traditional PID control method does not consider the delay of the angle sensor of the servo motor system, and requires a speed feedback signal

Method used

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  • Sliding mode control method for servo motor with measurement delay output
  • Sliding mode control method for servo motor with measurement delay output
  • Sliding mode control method for servo motor with measurement delay output

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Experimental program
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Embodiment Construction

[0055] The design goal is the control of the rotation angle of the servo motor system; in its specific implementation, the simulation and verification of the sliding mode control method based on the delay observer of the servo motor system are realized by means of the Simulink toolbox in Matlab7.0. Here, a certain representative implementation is introduced to further illustrate the related design and the adjustment method of the design parameters in the technical solution of the present invention.

[0056] See figure 2 , the present invention has a sliding mode control method of a servomotor with measurement delay output, the specific steps of the method are as follows:

[0057] Step 1: Servo motor system model analysis and modeling

[0058] The closed-loop control system adopts the control structure of negative feedback, and the output value is the rotation angle of the servo motor. The designed closed-loop control system has two parts, the main controller link and the sys...

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Abstract

The invention discloses a sliding mode control method for a servo motor with measurement delay output. The method comprises the following five steps of: 1, analyzing and establishing a servo motor system model; 2, designing a delay observer for a servo motor system; 3, designing sliding mode control over the servo motor; 4, checking tracking performance, and regulating parameters; and 5, finishing the design. A delay-observer-based sliding mode control method is provided for the servo motor system, and is used for controlling the rotating angle of the servo motor. By the control method, the stability of a closed loop system is ensured, a speed sensor is not required, the problem of signal delay of an angular position sensor is solved, and application in engineering practice is facilitated. The method has high practical value and broad application prospect in the technical field of automatic control.

Description

(1) Technical field [0001] The invention relates to a sliding mode control method of a servo motor with measurement delay output, which aims at a servo motor system and provides a sliding mode control method of a servo motor based on a delay observer, which is used to control the rotation angle of the servo motor , belonging to the field of automatic control technology. (2) Background technology [0002] A servo motor is a control motor that converts an input voltage signal into angular velocity and angular displacement on the motor shaft. Servo motors are divided into two categories: DC and AC: DC servo motors are usually used in high-power control systems, and AC servo motors are controlled by pulse width modulation (PwM) signals and are usually used in low-power systems. There are many kinds of sensors in the servo system. In modern digital servo systems, the most commonly used is the shaft angle encoder, also known as the code disc. In the servo system, the set value o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/13
Inventor 刘奕宁陈宝林刘金琨
Owner GUODIAN NANJING ELECTRIC POWER TEST RES CO LTD
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