Structure-optimizing servo motor speed closed loop control method

Abstract

The invention belongs to the technical field of servo control, and specifically discloses a structure-optimizing servo motor speed closed loop control method. A speed closed loop control system employed in the method comprises a speed controller, a torque front feed, and a current outer ring. The system is additionally provided with a speed observer, a frequency analyzer, and a low-pass filter. The speed controller is used for observing the angular speed of a servo motor in real time, and the frequency analyzer is used for detecting the maximum frequency of speed changes detected by the observer, and enables the maximum frequency to serve as the cut-off frequency which is transmitted to the low-pass filter. Through the cooperative action of the speed observer, the frequency analyzer and the low-pass filter, the method finally eliminates the interference in a speed feedback signal and the impact from a higher-order component in a current loop actual teaching mathematic model, and improves the speed output stability and the control precision of a speed loop.

Description

technical field [0001] The invention belongs to the technical field of servo control, and in particular relates to a structure-optimized closed-loop control method for the speed of a servo motor. Background technique [0002] At present, the servo driver basically adopts a three-closed-loop control structure of position, speed and torque. Its general working principle is that the driver performs position closed-loop control by collecting the pulse signal of the encoder. Speed ​​closed-loop control. For applications such as high-end CNC machine tools, industrial robots and other high-speed and high-precision synchronous motions of multiple servo motors, it is necessary to precisely control the position tracking trajectory of each servo motor to achieve a high-precision motion path at the end of the mechanical arm. Since the position loop of the servo drive generally adopts the mode of proportional control combined with speed feedforward compensation, the position deviation c...

AI Technical Summary

Problems solved by technology

Since the position loop of the servo driver generally adopts the mode of proportional control combined with speed feedforward compensation, the position deviation cannot be completely eliminated. Therefore, the control accuracy of the speed loop plays an important role in improving the position trajectory tracking accuracy of the servo motor.

In the speed loop of the servo control system, various interference, noise and nonlinear factors will affect the stability of the speed signal, reduce the control accuracy of the speed loop, and further affect the tracking accuracy of the position track

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