Discrete repetition control method for motor servo system

A servo system and repetitive control technology, applied in the direction of electric controllers, controllers with discontinuous output signals, etc., can solve the problems of increasing internal model order and reducing system control accuracy

Active Publication Date: 2016-08-17
ZHEJIANG UNIV OF TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

if T s If it is too large, the control accuracy of the system will decrease; if it is too small, the order of the internal model will increase

Method used

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  • Discrete repetition control method for motor servo system
  • Discrete repetition control method for motor servo system
  • Discrete repetition control method for motor servo system

Examples

Experimental program
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Embodiment

[0171] Embodiment: In this embodiment, the permanent magnet synchronous motor servo system performs repeated tracking tasks on a fixed interval as an example. Its position reference signal has a periodic symmetric characteristic. The servo motor adopts three-loop control, wherein the current loop and speed loop controllers are controlled by The ELMO driver is provided; the position loop controller is provided by the DSP development board TMS320F2812.

[0172] To design a position loop controller, it is necessary to establish a mathematical model of the servo objects other than the position loop, including the current loop, speed loop, power driver, AC permanent magnet synchronous servo motor body and detection device (see figure 2 ). The mathematical model of the servo object obtained through parameter estimation is

[0173] the y k+1 -1.5001y k +0.4989y k-1 =2.87856u k -0.4113u k-1 +w k+1 (twenty three)

[0174] Among them, y k , u k Respectively, the position out...

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Abstract

The invention provides a discrete repetition control method for a motor servo system, wherein a setting link, a period feedback link, an e / v signal conversion module and a subtraction / addition ring are involved. The discrete repetition control method comprises the steps of generating a reference signal with a symmetrical period by the setting link; constructing the period feedback link; constructing the e / v signal conversion module according to an antitangent attraction law, wherein the output signal of the e / v signal conversion module is used for correction amount of a repetition controller; and furthermore calculating out the output signal of the repetition controller as controlling signal input of a controlled object. The invention provides influence of value of a controller parameter to a system tracking error convergence process. Specific controller parameter turning can be performed according to a representation system convergence performance index. Furthermore the invention provides a calculating method which represents a monotonic decreasing area of the error convergence process, an absolute attraction layer and a steady state error band boundary. The discrete repetition control method for the motor servo system has advantages of quick convergence performance, effective interference inhibition acceleration and high control precision.

Description

technical field [0001] The invention relates to a discrete repetitive control method for a periodic reference signal motor servo system, and is also suitable for periodic operation processes in other industrial occasions. Background technique [0002] The repetitive control system has the characteristics of "memory" and "learning", which corrects the control input of the previous cycle by tracking the error signal to form the current control input. This system completely suppresses periodic disturbances and enables precise control. Repeated control technology has been successfully applied to various high-precision servo motor drives, hard disk servo systems, power electronic circuits, UPS, power quality control, etc. [0003] Most of the current repetitive control technologies are frequency domain analysis and design methods based on the internal model principle. According to the principle of internal model, the reference signal is regarded as the output of an autonomous s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/14
CPCG05B11/14
Inventor 孙明轩胡轶邬玲伟李彦威
Owner ZHEJIANG UNIV OF TECH
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