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A Compensation Method for Measurable Velocity Disturbances for Closed-Loop Position Servo

A compensation method and disturbance compensation technology, applied in the field of servo control, can solve problems such as unsatisfactory control effects, achieve good disturbance suppression capabilities, and achieve simple effects

Active Publication Date: 2020-09-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, when the speed loop is disturbed, the command output by the regulator of the position loop should be the speed command after the disturbance, not the motor side command before the disturbance, otherwise the influence of the disturbance speed will always exist, resulting in control The effect is not ideal

Method used

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  • A Compensation Method for Measurable Velocity Disturbances for Closed-Loop Position Servo
  • A Compensation Method for Measurable Velocity Disturbances for Closed-Loop Position Servo
  • A Compensation Method for Measurable Velocity Disturbances for Closed-Loop Position Servo

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Embodiment

[0021] Such as figure 1 Shown is the block diagram of position closed-loop servo control without speed disturbance compensation. Here, the position feedback Pout generated by the disturbed speed is compared with the position command, through the position loop regulator, the speed loop command Vref0 is generated, compared with the motor feedback speed Vmotor, the motor speed is controlled through the speed loop regulator, and the load disturbance Then it becomes the disturbance velocity Vout. After the disturbance, the velocity Vout is time-integrated, that is, the transfer function is 1 / s and then it is the position feedback Pout.

[0022] figure 2 Shown is the block diagram of the disturbance compensation link in the overall position closed loop loop. There are two inputs to the disturbance compensation link, one is the speed output Vmotor on the motor side, and the other is the final output speed Vout after the speed disturbance. One of the outputs of the disturbance com...

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Abstract

The invention discloses a compensation method used for closed loop position servo and capable of measuring speed disturbance. A disturbance speed is measured and a speed instruction compensation valueis obtained, and then the corrected compensation value is summed with an instruction value of a position regulator to be used as instruction input of the speed regulator, thereby realizing interferences speed compensation. The compensation method is simple in realization and high in disturbance suppression capability.

Description

technical field [0001] The invention belongs to the technical field of servo control, and in particular relates to a compensation method for measurable velocity disturbance for closed-loop position servo, which can be used in the anti-interference of bionic eye joints. Background technique [0002] In the traditional position closed-loop servo, the position loop regulator generates the required speed command to the speed regulator according to the input position command and position feedback, and finally controls the output speed of the motor and transmits it to the load side. In general, this closed-loop servo approach works very well. [0003] However, when the speed loop is disturbed, the command output by the regulator of the position loop should be the speed command after the disturbance, not the motor side command before the disturbance, otherwise the influence of the disturbance speed will always exist, resulting in control The effect is not ideal. Contents of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00
CPCH02P29/00H02P2205/07
Inventor 陈晓鹏刘贵林樊迪张陶然汪常进张伟民田野刘培志
Owner BEIJING INSTITUTE OF TECHNOLOGYGY