Motor servo system parameter identification method and anti-backlash control method

Abstract

The invention discloses a motor servo system parameter identification method and anti-backlash control method. The purpose of rapid and accurate tracking of the motor can be achieved. According to thetechnical scheme, a kinetic equation of a motor servo system containing backlash is built, a backlash model is shown according to transmission torque obtained when a motor makes contact with load, linearization is conducted for the backlash model; aiming at the kinetic equation of the motor servo system containing the backlash, discretization is conducted, by means of the kinetic equation, obtained after discretization, of the motor servo system containing the backlash, the backlash model obtained after discretization is reconstructed to obtain a first compact type expression, the first compact type expression is identified through recursive least squares, and motor parameters are obtained; the identified result of the motor parameters is put in the backlash model obtained after linearization, a second compact type expression is built again, identification is conducted, and load parameters are obtained. Meanwhile, the anti-backlash control method is provided on the basis of the identified result.

Description

technical field [0001] The invention relates to the technical field of motor servo control. Background technique [0002] With the rapid development of modern science and technology, industrial processes and military fields have higher requirements for the control accuracy of power transmission systems. However, due to nonlinear effects such as backlash, dead zone, friction, hysteresis and saturation, the control accuracy of the transmission system is further reduced. Therefore, improving the tracking accuracy of the motor servo system has become a hot research topic in the current power transmission system. Among these non-linear factors, backlash is the most important non-linearity, which is mainly caused by the gap between the transmission parts in the mechanical transmission system. Backlash is not only an essential nonlinear factor in the transmission system, but also a nonlinear factor that seriously affects the control performance of the system. It often produces m...

AI Technical Summary

Problems solved by technology

[0004] In summary, in terms of backlash identification, the above literature uses intelligent algorithms or other algorithms to approximate backlash nonlinearity or only identifies the coupling parameters that combine system parameters and backlash parameters. Such identification results not only increase the identification The computational complexity of the algorithm is not good for the subsequent high-precision control, because the identification results of each independent parameter cannot be known, only the identification results of the composite parameters are known

In terms of control, the above literature only compensates for the adverse effects of backlash nonlinearity, without considering the effects of other nonlinearities, which restricts the control accuracy of the motor and causes a certain tracking error

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