A Discrete Time-Domain Parametric Design Method for Motor Position Servo Controller

A servo controller and time-domain parameter technology, applied in motor control, control systems, electrical components, etc., can solve the problems of actual control performance deviation, increase design and debugging workload, etc., achieve good instantaneous performance, improve adaptability and Practicality, the effect of smooth servo tracking

Active Publication Date: 2021-05-18
FUZHOU UNIV
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Problems solved by technology

However, the controller designed in the continuous time domain needs to be discretized before it can be programmed on the actual system. This analog design method usually requires a discrete sampling frequency 30 times the closed-loop bandwidth, otherwise the actual control performance may be poor. Large deviations, which increase the workload of design and debugging

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  • A Discrete Time-Domain Parametric Design Method for Motor Position Servo Controller
  • A Discrete Time-Domain Parametric Design Method for Motor Position Servo Controller
  • A Discrete Time-Domain Parametric Design Method for Motor Position Servo Controller

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[0068] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0069] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0070] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...

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Abstract

The present invention relates to a discrete-time-domain parameterized design method for a position servo controller, which includes three parts: the first part is a linear servo control law composed of state feedback, target feedforward and disturbance feedforward to ensure closed-loop stability And enable the system to quickly respond to and compensate for disturbances; the second part is a smooth nonlinear control law, which achieves smooth tracking of the target by dynamically adjusting the closed-loop damping; the third part combines the unknown disturbances and model deviations of the system into an extended For state variables, a reduced-order observer is designed to simultaneously estimate the unmeasured state and unknown disturbance of the system for accurate servo control. The invention can realize fast, stable and accurate tracking of the motor position target under various load conditions. Simultaneously, the invention provides a parameterized design method in the discrete time domain, which facilitates the realization of computer programming of the controller, performance optimization and construction of a self-correcting control system.

Description

technical field [0001] The invention relates to the field of motor servo control systems, in particular to a discrete time-domain parameterized design method for a position servo controller. Background technique [0002] Servo control is one of the core technologies of industrial automation and intelligent manufacturing. The performance of the servo control system determines the production efficiency, machining accuracy and the safety of the system operation. Domestic and foreign industrial circles and scientific research institutions have invested a lot of research work on the servo control system. In the high-speed high-precision position servo system, it is required that the moving parts can enter the neighborhood of the target position quickly, smoothly and accurately. A PID-based multi-loop cascade control structure is used in conventional servo systems. PID is characterized by simplicity and ease of use, but it is a single-degree-of-freedom linear control that canno...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00
CPCH02P29/00
Inventor 程国扬余文涛
Owner FUZHOU UNIV
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