Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Optimizing Method of Servo System Controller Based on Expected Closed-loop Transfer Function

A technology of transfer function and servo system, applied in the direction of total factory control, total factory control, electrical program control, etc., can solve problems that require experience, difficult system performance, low efficiency, etc., and achieve good performance results

Inactive Publication Date: 2016-09-14
HARBIN INST OF TECH
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since this traditional cascade correction method does not establish a quantitative relationship between the corrected open-loop system characteristics and closed-loop system performance, it is difficult to guarantee the one-time design results to optimize the system performance, and it needs to be revised repeatedly according to the test results And adjust the structure and parameters of the controller to get better performance of the system
Obviously, the efficiency of this traditional design method based on trial and error is very low, and the quality of the design results depends to a large extent on the designer's experience
At present, although there are also literatures that propose a controller synthesis design method, such as "PID Controller Design Based on Two-Degrees-of-Freedom Direct Synthesis", W.Hu, G.Xiao, W.Jian, 2011 Chinese Control and Decision Conference (CCDC), 201123-25May, MianYang, SiChuan, constructed different forms of closed-loop transfer functions for several typical process models, and obtained the analytical expression of the controller whose structure is limited to PI or PID form by using Taylor series expansion and Padé approximation , although the system can obtain better performance by adjusting the parameters of the closed-loop transfer function, since the quantitative relationship between the frequency response index and the controller parameters has not been established, experience is still needed for debugging, and there is a certain degree of trial and error, so the closed-loop system cannot be guaranteed. System performance is optimal
In addition, the controller optimization method for the "Double Ten" frequency response index is still rarely reported.

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
  • Optimizing Method of Servo System Controller Based on Expected Closed-loop Transfer Function
  • Optimizing Method of Servo System Controller Based on Expected Closed-loop Transfer Function
  • Optimizing Method of Servo System Controller Based on Expected Closed-loop Transfer Function

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0028] Embodiment 1: The servo system controller optimization method based on the expected closed-loop transfer function of this embodiment, combined with figure 2 Specifically, it is prepared according to the following steps:

[0029] Step 1: System identification, determine the transfer function of the controlled object;

[0030] Step 2. Construct the structural form of the desired closed-loop transfer function;

[0031] Step 3: Establish the mathematical relationship between the system frequency response index, shear frequency and stability margin constraints and the expected closed-loop transfer function parameters;

[0032] Step 4. Use the MATLAB toolbox to solve the optimization problem, and obtain the parameters of the optimized expected closed-loop transfer function;

[0033] Step 5: Use the controlled object transfer function and the expected closed-loop transfer function to solve the controller.

specific Embodiment approach 2

[0034] Embodiment 2: The difference between this embodiment and Embodiment 1 is that in the step 1, the transfer function of the controlled object is selected as In the formula, k G is the system gain, τ e is the electrical time constant, τ m is the electromechanical time constant, s is the Laplace operator;

[0035] The parameter k in the transfer function of the actual controlled object is measured by substituting the nominal parameter or parameter identification G , τe and τ m , so as to determine the transfer function of the controlled object.

specific Embodiment approach 3

[0036] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the structural form of the desired closed-loop transfer function in the second step is: where Φ E (s) is the expected closed-loop transfer function constructed, ξ is the damping ratio, w n is the natural angular frequency, s is the Laplace operator, and T is the time constant of the auxiliary inertial link; among them, ξ and w n is the parameter to be optimized, and T is used to ensure the physical realizability of the controller, and it is taken as a constant value, usually less than w c is the cut frequency.

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 belongs to the technical field of controller optimization, and relates to a servo system controller optimization method based on an expected closed-loop transfer function. The method aims to solve the problems that because the quantitative relation between the frequency response index and the controller parameters of a present controller is not established and whether the design result is satisfactory or not is determined by experience of designers to a great extent, it can not be guaranteed that the performance of a closed-loop system is the optimal and 'double-ten' controller optimization methods are rarely reported. The method comprises the steps of firstly, determining the transfer function of a controlled object; secondly, constructing the structural form of the expected closed-loop transfer function; thirdly, establishing the mathematic relations between the expected closed-loop transfer function and the system frequency response index, the shear frequency and the stability margin constraint condition respectively; fourthly, obtaining the optimized parameters of the expected closed-loop transfer function; fifthly, working out the controller.

Description

technical field [0001] The present invention relates to a servo system controller optimization method based on a desired closed-loop transfer function. Background technique [0002] With the high development of automation technology and its related information science and system science, servo systems are playing an increasingly important role in industry, aviation, aerospace, navigation and other fields. topics of interest. In the design of the control system, the most important work is to design a controller that can stabilize the closed-loop system and meet certain performance requirements. The frequency response is a very important performance index of the servo system, and the controller design of the servo system is generally carried out around this index. This indicator reflects the tracking performance of the system, and common frequency response indicators include "double ten", -3dB, -90 degree phase shift and so on. In the control design of servo system, the she...

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): G05B19/418
CPCY02P90/02
Inventor 陈松林陈婷李明
Owner HARBIN INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com