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Multi-shafting servo system synchronous control method based on dynamic error coefficient

A dynamic error and servo system technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of complex control method design, poor tracking dynamic signal performance, large synchronization error, etc.

Active Publication Date: 2018-11-06
HARBIN INST OF TECH
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-axis servo system synchronous control method based on the dynamic error coefficient, to realize dynamic and static high-precision synchronous control, to solve the problem of large synchronous error in the prior art method, and the performance of tracking dynamic signals Very poor, the design of the control method is complicated, etc.

Method used

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  • Multi-shafting servo system synchronous control method based on dynamic error coefficient
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  • Multi-shafting servo system synchronous control method based on dynamic error coefficient

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specific Embodiment approach

[0058] Specific implementation methods: such as Figures 1 to 6 As shown, the implementation process of the multi-axis servo system synchronization control method based on the dynamic error coefficient described in this embodiment is as follows:

[0059] The core of the multi-axis synchronous control method based on the dynamic error coefficient method is to construct the reference command signal of the fast-changing axis by solving the dynamic error coefficient of each axis. The pull-type expression of a shaft output signal in a multi-axis servo system is

[0060]

[0061] in, is the closed-loop transfer function, and R(s) is the input reference command signal, then the Expand in the form of Taylor series in the neighborhood of s=0

[0062]

[0063] in,

[0064]

[0065] Available,

[0066] Y(s)=C 0 R(s)+C 1 sR(s)+C 2 the s 2 R(s)+...+C n the s n R(s)

[0067] Through the inverse Laplace transform of Y(s), the dynamic process expression of the output si...

Embodiment 1

[0077] Embodiment 1: In step 2, adopt the method of scheme 1 to obtain the dynamic error coefficient, and then obtain the dynamic structure coefficient β, and verify the synchronous control effect. The process of obtaining the dynamic error coefficient by using the input and output of the multi-axis servo system is as follows:

[0078] The first step is to set the appropriate input signal to obtain the expression of the dynamic output of the two shafts of the two-axis speed servo system; first, input the same command for the fast-changing shaft and the slow-changing shaft of the two-axis speed servo system respectively signal, the speed change form of the command signal is acceleration first and then constant speed; obtain the real-time change data of the angular position of the input command, the real-time change data of the angular velocity, the real-time change data of the angular acceleration and the real-time change data of the angular position output; according to the dyn...

Embodiment 2

[0093] Embodiment 2: In step 2, the process of using the multi-axis servo system identification model to obtain the dynamic error coefficient is:

[0094] The first step is to identify the mathematical model of each axis of the dual-axis speed servo system;

[0095] Test the frequency characteristics of the object on the dual-axis rate servo system, and apply the least squares method to the measured FFT amplitude ratio and FFT phase angle difference to fit the object model. The mathematical model of the slowly variable axis system is G 1 (s), the mathematical model of the fast-changing shaft system is G 2 (s);

[0096] The second step is to design the controller;

[0097] According to the system requirements, the controller in the synchronous control structure is designed, and the controller of the slowly variable shaft system is K 1 (s), the controller of the fast-changing shaft system is K 2 (s);

[0098] The third step is to find the dynamic error coefficient C 1i , i...

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Abstract

A multi-shafting servo system synchronous control method based on a dynamic error coefficient belongs to the field of motion control in order to realize dynamic and static high-precision synchronous control and solves the problem that a method in the prior art has a large synchronization error, poor performance when tracking dynamic signals, and complicated design. The method comprises designing asynchronous control structure; obtaining a dynamic error coefficient: obtaining the dynamic error coefficient by using the multi-shafting servo system input and output or a multi-shafting servo system identification model; obtaining a dynamic structure coefficient [beta] based on the dynamic error coefficient; synchronously controlling the multi-shafting servo system by the dynamic control coefficient [beta] and the synchronous control structure. The method can realize dynamic and static high-precision synchronous control, is simple and easy in parameter setting, is not limited to a steady state, and can still guarantee synchronization accuracy in a dynamic state.

Description

Technical field: [0001] The invention relates to a synchronous control method for a multi-axis servo system, which belongs to the field of motion control. technical background: [0002] In industrial applications, there are often situations where there is a need for multi-axis synchronous control. If there are significant differences in the dynamic characteristics of each axis of motion, the simple serial and parallel schemes based on reference commands are often difficult to achieve ideal results, while other complex In the implementation of the synchronous control method, there are problems of parameter adjustment difficulty and heavy workload. Therefore, it is very necessary to provide a synchronous control method that can greatly reduce the workload of parameter setting while realizing high-precision synchronous control. [0003] According to the existing synchronous control methods, the series synchronous control is more suitable for the situation where the characteris...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 霍鑫李琦王孟渝刘思源赵辉佟鑫刚
Owner HARBIN INST OF TECH
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