PDFF-based AC servo driver control parameter self-tuning method

Abstract

The invention discloses a PDFF-based AC servo driver control parameter self-tuning method. Firstly, current and speed signals required for identifying an AC servo system model are acquired; secondly, according to the acquired signals, a speed loop controlled object model of a permanent magnet synchronous motor AC servo driving system is identified and parameters of the model are identified; and finally, according to the parameters and performance indexes of the model, searching optimization tuning is performed on control parameters of a servo driver so that the optimal control parameter is acquired. According to the self-tuning method, a PDFF controller is utilized to substitute a conventional PI controller on a speed loop of the servo driver and the parameters of the controller are automatically tuned. The model of the controlled object is identified by the self-tuning method by utilizing a recursion least square method. Then according to the feasible performance indexes, searching optimization is performed on the parameters of the controller by utilizing a mode searching algorithm, and the optimal control parameter is obtained so that the servo driving system can be great in anti-disturbance capability, control precision and robustness.

Description

Technical field [0001] The invention belongs to the technical field of AC servo system control, and more specifically, relates to a PDFF-based AC servo driver control parameter self-tuning method. Background technique [0002] The equipment manufacturing industry is the basic industry of the national economy and national defense construction, and its development level determines the development level of the national economy. Under the influence of the rapid development of modern science and technology, the manufacturing industry is developing in the direction of high performance, high precision, multiple varieties, and low cost. Since the current high-performance CNC systems are generally equipped with AC servo systems, research on high-performance AC servo systems and improving the control of the servo control system to permanent magnet synchronous motors have become the key to the rapid development of the equipment manufacturing industry. [0003] AC servo drive is the control c...

AI Technical Summary

Problems solved by technology

[0006] However, in the actual working process, factors such as load inertia and motion friction coefficient of the AC servo system often change, which will lead to a decrease in the control performance of the speed loop. Therefore, it is often necessary for engineering debuggers to readjust the control parameters of the speed loop

However, due to the complexity of the actual working conditions and the cumbersome debugging of control parameters, debugging personnel are required to have a strong level of professional knowledge

Images