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Servo motor state observation method capable of performing time varying measurement on delayed output and noises

A servo motor and delayed output technology, applied in the control of generators, motor generators, electronic commutation motor control, etc., can solve the problem of not considering the delay output and measurement noise of the servo motor system angle sensor measurement, and the inability of the speed feedback signal. measurement and other issues

Active Publication Date: 2014-09-10
GUODIAN SCI & TECH RES INST
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The traditional control method does not consider the measurement delay output and measurement noise of the rotation angle sensor of the servo motor system, and the speed feedback signal is not measurable

Method used

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  • Servo motor state observation method capable of performing time varying measurement on delayed output and noises
  • Servo motor state observation method capable of performing time varying measurement on delayed output and noises
  • Servo motor state observation method capable of performing time varying measurement on delayed output and noises

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Embodiment Construction

[0052] See figure 2 , a kind of state observation method of the servo motor with time-varying measurement delay output and noise of the present invention, the specific steps of the method are as follows:

[0053] Step 1: Servo motor system model analysis and modeling:

[0054] The servo motor system adopts a negative feedback control structure, and the output is the rotation angle of the servo motor system;

[0055] The transfer function of the servo motor system is described as follows:

[0056] G d ( s ) = K m s [ JL d s 2 + ( JR d + f 0 ...

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Abstract

Disclosed is a servo motor state observation method capable of performing time varying measurement on delayed output and noises. The servo motor state observation method includes four steps of step one, subjecting a servo motor system to model analyzing and modeling; step two, designing a delay observer of the servo motor system; step three, performing tracking performance inspection and parameter adjustment; step four, ending the design. By means of the state observation method, influence of delayed output and noises can be eliminated, full status information of the system can be obtained without a speed sensor, and the method can be conveniently applied to engineering practice. According to the designed observer, convergence of observation errors is analyzed through a Lyapunov-Razumikhin theorem. Besides, by means of digital simulation, effectiveness of the observer is verified.

Description

technical field [0001] The invention relates to a state observation method of a servo motor with time-varying measurement delay output and noise. It aims at a servo motor system and provides a state observation method of a servo motor based on a time-delay observer, which is used for observing the servo motor The state information of the system belongs to the technical field of automatic control. Background technique [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 s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/14
Inventor 陈彦桥贺庆刘金琨
Owner GUODIAN SCI & TECH RES INST