A servo drive control method and device

Abstract

The invention discloses a servo driver control method and device. The method comprises: using a rated maximum torque as a set torque to perform open-loop control on a servo driver in an earlier positioning stage, and calculating a deceleration position in a preset planning mode based on a current speed and a target position; when the current position of the servo driver reaches the deceleration position, determining a position curve, a speed curve and an acceleration curve during the movement from the deceleration position to the target position in the preset planning mode; performing closed-loop regulation on a position loop with the position curve as an adjustment target, determining the additional torque according to the speed curve and the acceleration curve, and using the sum of the torque adjustment amount and the additional torque as the set torque to control the servo driver to move from the deceleration position to the target position. The method and device improve the response speed by ensuring that the driving position approaches the target position at the fastest speed, ensure the fast and accurate positioning of a final section, and avoid overshoot and oscillation.

Description

technical field [0001] The invention relates to the technical field of servo driver control, in particular to a servo driver control method and device. Background technique [0002] The outer loop of the traditional servo drive control algorithm adopts position closed-loop adjustment. During the positioning movement process, the position loop is constantly adjusted, and the output torque of the drive cannot be guaranteed to be the maximum value. Therefore, the positioning process takes the shortest time, that is, the response time is not the fastest. [0003] In order to improve the response speed as much as possible, it is necessary to ensure that the servo driver is at full output as much as possible to shorten the time spent in the positioning process. At the same time, it is necessary to avoid overshoot and oscillation at the end of positioning, and ensure that the positioning accuracy is not affected. Contents of the invention [0004] The object of the present invent...

AI Technical Summary

Problems solved by technology

[0002] The outer loop of the traditional servo drive control algorithm adopts position closed-loop adjustment. During the positioning movement process, the position loop is constantly adjusted, and the output torque of the drive cannot be guaranteed to be the maximum value. Therefore, the positioning process does not take the shortest time, that is, the response time is not the fastest.

Images