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A master-slave axis control method

A control method and spindle technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve the problems of system complexity and reliability, low dual-axis synchronization accuracy, etc.

Active Publication Date: 2017-01-04
WUHAN BINHU ELECTRONICS
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Problems solved by technology

[0003] Aiming at the deficiency of the background technology, the present invention realizes the requirement of high-precision and stable lifting of the heavy-duty platform through the follow-up algorithm of the fuzzy PID closed-loop control of the slave axis, segment compensation, fuzzy controller optimization, etc. High, complex system and poor reliability

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specific Embodiment

[0020] The invention relates to lifting heavy objects with a weight greater than 1000kg, and the lifting height is greater than 5 meters. The lifting process needs to be stable, and there is a certain speed requirement.

[0021] 1.1 Spindle speed control;

[0022] According to the characteristics of large cylinder pressure and stroke angle in the initial lifting stage and high speed requirements in the middle stage of lifting, and high precision requirements in the later stage of lifting, the frequency domain analysis of the closed-loop system without PID is carried out, and then the PID compensation trial is made (see Chen Boshi, editor-in-chief) The second chapter of the automatic control system of electric dragging), obtained the spectrum characteristics of large gain in the low frequency band, high cut-off frequency in the middle frequency band, and large attenuation in the high frequency band.

[0023] 1.2 Compensation for spindle signal delay lag

[0024] The slave axi...

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Abstract

The invention belongs to the field of automatic control, in particular to a master-slave axis control method. The invention realizes the requirement of high-precision and stable lifting of the heavy-duty platform through the follow-up algorithm of the fuzzy PID closed-loop control of the slave axis, and through segmental compensation, fuzzy controller optimization, etc., and solves the problem of low synchronization accuracy of two axes and complex reliability of the system problem of poor sex.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to a master-slave axis control method. Background technique [0002] Two-axis synchronization is widely used in the field of lifting heavy objects. At present, it is widely used, and the methods with mature technology are: 1. Open-loop control, the two axes are supplied with oil by the same oil cylinder, and the opening of the oil supply is adjusted by the proportional valve in the oil cylinder. , so that the oil pressure on the two shafts is approximately the same, achieving the purpose of synchronizing the two shafts. 2. Virtual axis control, by giving a standard axis signal as a virtual axis, two axes are encouraged to follow the movement of the virtual axis, and the synchronization of the two axes has been achieved. 3. Master-slave control, one axis follows the other axis to achieve two-axis synchronization. The slave axis performs multi-layer closed-loop control to achieve th...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 张磊
Owner WUHAN BINHU ELECTRONICS
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