Control parameter setting method of speed regulating controller in speed regulating device of torque motor

Abstract

The invention discloses a control parameter setting method of a speed regulating controller in a speed regulating device of a torque motor; a speed regulating device on which the method is based is composed of a speed regulating order generator, a speed regulating controller, a power driving module, a speed regulating executing mechanism and a speed sensor; the setting method comprises the steps of forming a parameter identifying device of the speed regulating executing mechanism; according to a phase step output response feature of the speed regulating executing mechanism, identifying an equivalent viscous damping coefficient and an equivalent inertia of the speed regulating executing mechanism, dividing the maximal output voltage of the power driving module by the maximal value of a speed regulating order, squaring the obtained quotient, multiplying by 5 times and dividing by the equivalent inertia to obtain an integral coefficient of the speed regulating controller; multiplying the equivalent inertia by the integral coefficient of the speed regulating controller and calculating a square root, multiplying by twice, and subtracting the equivalent viscous damping coefficient from the obtained product to obtain a probability distribution function (PDF) coefficient of the speed regulating controller. According to the control parameter setting method, the controlling parameter of the speed regulating controller is precisely set, and the speed of the torque motor is stably regulated within a wide range.

Description

Technical field: [0001] The invention relates to a design and debugging method of a torque motor wide-range speed regulating device, in particular to a method for setting the control parameter size of a speed regulating controller in a torque motor wide-range speed regulating device. Background technique: [0002] Among the speed adjustment devices, torque motor speed adjustment is often encountered in many mechanical equipment and weaponry, such as the rotation of a manipulator, the rotation of processing equipment, the transmission of workpieces in an automated production line, and the search of radar antennas. In the torque motor speed control device, the variable to be adjusted is the movement speed of the mechanical load. In order to obtain a lower operating speed with a mechanical load, a deceleration device must be configured between the torque motor and the mechanical load. This not only increases the cost of the speed regulating device, but also increases the volume and...

AI Technical Summary

Problems solved by technology

This results in a blind phenomenon in the setting of the control parameters of the speed controller, the debugging of the torque motor speed control device is time-consuming and laborious, and the speed control performance is difficult to meet the engineering requirements

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