Setting method for control loop gain of servo system

Abstract

The invention discloses a setting method for the control loop gain of a servo system. The setting method is characterized in that the servo system automatically sets gain parameters of servo control loops during reciprocating motion, specifically the gain parameters of a position loop control loop and a speed loop control loop. The method comprises the following steps: before starting of the setting, firstly determining a simplified load model parameter, namely, determining a rotational inertia J of a load; secondly, performing tail-end low-frequency jitter detection and suppression; thirdly, setting the gain parameters of the speed loop control loop; finally, setting the gain parameters of the position loop control loop. By adopting the method, the servo system can automatically set the gain parameters of the servo control loops, including a position loop proportional gain Kp, a speed loop proportional gain Kv, a position loop integral time constant Ti and a torque filter time constant Tf, during the reciprocating motion; moreover, the low-frequency jitter suppression at the tail end of the load and vibration suppression of mechanical resonance are finished, the tuning process of the servo system is simplified effectively, and the automation degree and intelligence level are increased.

Description

technical field [0001] The invention belongs to the technical field of servo system control, and relates to a method for setting the gain of a servo system control loop. Background technique [0002] In practical applications, affected by factors such as the connection mechanism between the servo motor and the load, the moment of inertia of the load, and mechanical resonance, it is necessary to frequently adjust the gain parameters of the servo system control loop to meet the system stability, static and dynamic performance requirements. Since there are many control gain parameters of the servo system, and the parameters are interrelated, this greatly increases the difficulty of on-site application debugging, which is not conducive to the improvement of production efficiency. In this context, studying the tuning technology of servo system gain parameters and implementing corresponding functions in servo products can greatly reduce the technical threshold of servo system appl...

AI Technical Summary

Problems solved by technology

When running with the parameters of the highest rigidity level, if the system overshoots or shakes, the patent only fine-tunes the integral gain parameters of the speed loop, but does not adjust the gain parameters of the position loop; on the other hand, for the load The end vibration caused by flexibility, the patent has not made targeted treatment

Images