A kind of output feedback control method of motor position servo system

A servo system and motor position technology, applied in the estimation/correction of motor parameters, observer control, etc., can solve the problems of measurement noise affecting the tracking performance of the system, the performance of the motor servo system, and the inability to install speed sensors. Effects of low-speed servo performance, improved high-frequency dynamics and measurement noise, and improved tracking performance

Active Publication Date: 2017-05-17
NANJING UNIV OF SCI & TECH
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, high-frequency dynamics and measurement noise problems caused by high-gain feedback will affect system tracking performance;
[0006] 3. Most of the existing motor servo system control methods are full state feedback control
Full state feedback control needs to obtain the position and speed signals of the motor servo system. However, in engineering practice, in order to save costs or due to limited volume, quality, and structure, it is impossible to install a speed sensor. More importantly, the measurement noise generated by the measurement of the speed signal It will have a non-negligible impact on the performance of the motor servo system

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A kind of output feedback control method of motor position servo system
  • A kind of output feedback control method of motor position servo system
  • A kind of output feedback control method of motor position servo system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0106] Motor position servo system parameters are inertial load parameters: m = 0.02kg; viscous friction coefficient B = 10N m s / °; torque amplification factor k i =6N / V; time-varying external disturbance f(t)=10sint; parameters in the continuous friction model: l 1 =0.1; l 2 =0.06; l 3 =700; l 4 =15; l 5 = 1.5.

[0107] The position command that the system expects to track is as follows Figure 4 The curves of the sine command shown, the command speed and acceleration changing with time are also given together.

[0108] Comparison of simulation results: nonlinear output feedback controller (OFRC) parameter selection: k 1 =0.3;k 2 = 800; ω 0 =6000; PID controller parameter selection: k P =1699;k I = 13097; k D =0.

[0109] The selection steps of the PID controller parameters are as follows: First, under the condition of ignoring the nonlinear dynamics of the motor servo system, a set of controller parameters are obtained through the PID parameter self-tuning functi...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for controlling output feedback of a motor position servo system. The method comprises the following steps that a mathematic model of the motor position servo system is established; an extended state observer is designed, and the state of the system and interference in the mathematic model are observed; a second-order low-pass filter is designed so that an error system of the motor position servo system can be established, and an output feedback controller is designed according to the error system; stability certification is conducted on the motor position servo system according to the Lyapunov stability theory, and a result of the global asymptotic stability of the system is obtained according to the Barbalat lemma. According to the method for controlling output feedback of the motor position servo system, considering uncertainty such as external interference, the extended state observer conducts estimation, compensation is conducted during design of a controller, and therefore the robustness of the actual motor position servo system to external interference is improved; in this way, the problems of a high-frequency dynamic condition, measurement noise and the like caused by high-gain feedback are greatly relieved, so that the shadowing property of the system is improved, and the motor position servo system can be applied to practical engineering more conveniently.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to an output feedback control method of a motor position servo system. Background technique [0002] The motor servo system has outstanding advantages such as fast response, convenient maintenance, high transmission efficiency, and convenient energy acquisition. It is widely used in various important fields, such as robots, machine tools, and electric vehicles. With the rapid development of the modern control engineering field, the requirements for the tracking performance of the motor servo system are getting higher and higher, but how to design the controller to ensure the high performance of the motor servo system is still a difficult problem. This is because the motor servo system is a typical nonlinear system, and there will be many modeling uncertainties (such as unmodeled disturbances, nonlinear friction, etc.) in the process of designing the controlle...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): H02P23/14H02P23/12
Inventor 邓文翔姚建勇马大为乐贵高朱忠领胡健任杰杨贵超董振乐徐张宝
Owner NANJING UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap