Characteristic Analysis Method of Linear Servo System Based on Saturation Excitation Signal

Abstract

The invention provides a feature analysis method for a linear servo system. According to the electrical and mechanical features of the linear servo system, saturation drive signals, amplitude values and duration time are selected; under the amplitude values and the duration time, a saturation drive experiment is carried out on the linear servo system, and actual displacement data in the motion direction of the linear servo system are recorded; the actual displacement data are analyzed through a difference method, and the speed data and the acceleration data of the linear servo system in the motion direction of the linear servo system under the extreme motion condition are obtained; the acceleration data are analyzed through Morlet wavelet transformation, and the frequency data of the linear servo system under the extreme motion condition are obtained; direct data reference bases are provided for the design and development of a motion controller and the study of a motion planning and control method. The feature analysis method for the linear servo system is easy and convenient to implement, small in algorithm operand, easy to achieve in the field and flexible in debugging process.

Description

technical field [0001] The invention relates to a system feature analysis method in the technical field of motion control, in particular to a linear servo system feature analysis method based on a saturated excitation signal. Background technique [0002] Compared with the traditional rotary motor, the revolutionary feature of the linear motor is that it directly converts electrical energy into mechanical energy of linear motion, eliminating the intermediate link of conversion from rotary motion to linear motion. With its high thrust-to-weight ratio, high stiffness, high acceleration and high precision, linear motors have become the mainstream core components of high-acceleration, high-speed, high-precision motion system equipment, and have been widely used in high-end CNC machine tools, IC packaging and manufacturing, and microelectronics. application. With the continuous improvement of production efficiency and production quality, the requirements for acceleration, speed ...

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Problems solved by technology

In addition, the natural frequency obtained by such methods cannot directly represent the frequency information of the servo system during motion

[0005] After searching, it was found that Kim et al. calculated in the literature "Design and performance tuning of sliding-mode controller for high-speed and high-accuracy positioning system in disturbance observer framework" (IEEE Transactions on Industrial Electronics, 2009, 56(10): 3798-3809.) The method of dynamic model parameters obtains the natural frequency of the controlled object to represent the frequency information in the motion process, but this method requires accurate dynamic model parameters, and is not very operable in practical applications

[0006] To sum up, in the prior art, the natural frequency is used to represent the frequency information in the motion process, and it is difficult to accurately characterize the frequency information in the motion process; in addition, the obtained frequency At the same time, it is difficult to obtain other system characteristics, such as velocity information and acceleration information, thus affecting the design and development of motion controllers

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