Time-varying fractional FCOR multi-axis coordinated control system performance evaluation method

A system performance evaluation and collaborative control technology, which is applied in the general control system, control/regulation system, test/monitoring control system, etc., can solve the problems of limited accuracy of evaluation results and inaccurate model description, and achieve high model description Precision, accurate system evaluation results, high reliability results

Inactive Publication Date: 2017-10-20
HENAN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

Using integer order to model and filter the system is mature, and the available tools and analysis methods are abundant. The disadvantage is that the model description is not accurate enough, which leads to limited accuracy of evaluation results.

Method used

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  • Time-varying fractional FCOR multi-axis coordinated control system performance evaluation method
  • Time-varying fractional FCOR multi-axis coordinated control system performance evaluation method

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Embodiment Construction

[0028] Such as figure 2 As shown, the present invention discloses a method for evaluating the performance of a time-varying fractional order FCOR multi-axis cooperative control system. The multi-axis cooperative control system to be evaluated includes a lower-level controller connected to a power amplifier as a controlled object, Servo motors and motion sensors;

[0029] This method is carried out through an external system performance evaluation module, the external system performance evaluation module includes a CPU (central processing unit), a communication module and a memory, and the communication module and the memory are respectively connected to the CPU; the communication module and the multi-axis cooperative control system being evaluated The lower controllers are connected in a wired or wireless manner; the initial output-noise model is built in the CPU and / or memory of the external system performance evaluation module;

[0030] This method is carried out in turn b...

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Abstract

The invention discloses a time-varying fractional FCOR multi-axis coordinated control system performance evaluation method which includes the following steps: S1, data acquisition; S2, spatial motion track reconstruction; S3, fractional model structure estimation; S4, fractional model parameter estimation; S5, output-noise model estimation; S6, variable structure whitening filtering; and S7, time-domain and frequency-domain correlation analysis. In the continuous operation process of a multi-axis coordinated control system, an external system performance evaluation module continuously implements the steps S1 to S7. Compared with a built-in system evaluation algorithm, the external system performance evaluation module and algorithm of the invention is independent of an evaluated system (namely, higher reliability), and thus, the data meets the 'single input and single output' requirement of an FCOR algorithm; and the method can achieve higher model description precision and a better whitening effect.

Description

technical field [0001] The invention relates to the technical field of industrial numerical control and motion control. Background technique [0002] In various industrial productions, there are many equipments that require coordinated control of multi-motion axes to operate, such as CNC machine tools, manipulators, mobile platforms, and various automatic measuring equipment. The key to determining the comprehensive performance of equipment, including materials, machining, assembly technology, and control system algorithms or software. Among them, the function of software is not only to control the work of the electromechanical system to achieve the designed performance index, but also to make up for the limitations or defects of the hardware to a certain extent. After the equipment is inspected and debugged by special equipment when it leaves the factory, it can basically meet the design performance indicators. However, due to factors such as changes in working conditions...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065
Inventor 张士雄
Owner HENAN UNIVERSITY OF TECHNOLOGY
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