Position closed-loop system-based minimum phase difference tracking method

Abstract

The invention discloses a novel control method, and aims to improve the tracking accuracy of a servo system. A current loop disturbance observer is constructed to effectively suppress the nonlinear disturbance of the system; a position differentiation method is used for constructing a speed closed loop on the basis of no speed measurement components to improve the rigidity (damping) of the system; a position instruction differentiation method is used for realizing first-order feed-forward and controlling the phase shift of the system; parameters of a position and speed controller are regulated to control a tracking amplitude difference; within a system index bandwidth range, double-one tracking indexes of an absolute value of a signal tracking amplitude difference of lower than 1 percent and phase lag of less than 1 degree can be achieved; particularly remarkable low-speed characteristics are achieved, and 0.00001-degree 0.024Hz distortion-free dynamic ultra-small signal tracking can be realized. The method has the characteristics of high control accuracy, wide application range, easiness for engineering practices and the like.

Description

technical field [0001] The invention relates to a servo system applied to a speed-measuring element and its minimum amplitude phase difference tracking method, which constructs a speed closed loop and increases the rigidity (damping) of the system. Background technique [0002] In recent years, with my country's outstanding achievements in aerospace, weapons development and other fields, as well as the rapid development of other industrial fields, high-precision servo systems have played a pivotal role. "High response, high precision, and ultra-low speed" are the core key elements in the development of high-precision servo systems, among which "high response" represents the ability of the servo system to track high-frequency signals; "high precision" reflects the ability of the system to track command signals Accuracy; "ultra-low speed" reflects the low-speed stability of the system. [0003] Factors affecting the performance of high-precision servo systems include many non...

AI Technical Summary

Problems solved by technology

This classic control method is not enough to meet the performance requirements of high-precision servo systems, and the use of compound control methods has become the development trend of today's control systems

Images