A processing method for servo system friction

Abstract

The invention discloses a servo system friction processing method based on a coulomb model and estimation and compensation and is suitable for a servo system control field. Aiming at a complex technological difficulty of a servo system friction model, a technical scheme including six steps is provided. The technical scheme comprises the following steps of 1, through a speed instruction planning unit, planning two speed instructions with a special form for a servo system; 2, through a friction model test unit, testing a given torque in an on-line mode and testing an initial friction model; 3, through a coulomb model identification unit, identifying and acquiring the coulomb model; 4, through a coulomb model feedforward unit, calculating and acquiring a model feedforward current; and 5, through a compensation unit, using a given current and a rotation speed of a motor to acquire a compensation current via a compensation equation, and through a current instruction generation unit, generating a final current instruction. In the invention, a form is simple and is easy to realize, and a condition that a servo system friction processing effect is poor in the prior art can be improved.

Description

technical field [0001] The invention relates to a servo system friction processing method based on a Coulomb model and estimated compensation, belonging to the technical field of servo system control. Background technique [0002] Servo system is a kind of servo system that has been widely used so far. It is an automatic control system that tracks input command signals to obtain precise position, speed and power output. The position tracking accuracy, speed tracking accuracy and speed stability of the servo system are important indicators for the design of the servo system control algorithm. [0003] There are many factors that affect the accuracy of the servo control system, and disturbance and friction are two important factors. Disturbances often come from uncertain factors neglected in the modeling process, sudden load changes during system operation, and changes in the working environment. Friction comes from various complex loads connected to the servo. In the workpl...

AI Technical Summary

Problems solved by technology

[0009] Purpose of the invention: The problem to be solved in the present invention is that the performance of the servo system is affected by the friction and the performance is reduced. A method for dealing with the friction of the servo system based on the Coulomb model and compensation method is proposed, which weakens the influence of the friction of the servo system

Images