Servo motor control method and device

A technology of servo motor and control method, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of reduced robustness and stability, no suppression of external strong interference, and impact on system control performance. , to improve the robustness and stability, shorten the adjustment time, and improve the control performance.

Active Publication Date: 2018-12-04
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to overcome the servo motor control method in the prior art, which does not have the ability to suppress strong external disturbances. When the system is subjected to strong external disturbances, the robustness and stability of the system will be reduced, thereby affecting The control performance of the whole system, etc.

Method used

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  • Servo motor control method and device
  • Servo motor control method and device

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Embodiment 1

[0048] The embodiment of the present invention provides a servo motor control method, which can be applied to a servo drive system. As a high-end product of transmission technology in the field of motion control, the servo drive system has powerful functions, small size and outstanding control effect, and is widely used in industrial production. middle. However, due to the limitations of most control methods, they do not have the ability to suppress strong external disturbances. The servo drive system in the embodiment of the present invention is such as figure 1 As shown, the whole system includes: servo controller, servo motor and three-bladed fan driven by the servo motor.

[0049] Such as figure 2 As shown, the method includes the following steps:

[0050] Step S1: Obtain the historical data of the running speed of the servo motor.

[0051] In the embodiment of the present invention, PLC equipment is used to realize the above servo motor control method, such as figur...

Embodiment 2

[0102] An embodiment of the present invention provides a servo motor control device, such as Figure 8 As shown, the servo motor control device includes: a historical data acquisition module 1, configured to acquire historical data of the operating speed of the servo motor in the servo drive system. For details, refer to step S1 in Embodiment 1.

[0103] The object model building module 2 is used for offline identification of historical data by using particle swarm optimization algorithm, and constructing the object model of the servo drive system. For details, refer to step S2 in Embodiment 1.

[0104] The feedback control law building block 3 is used to design a discrete-time differential flat controller according to the object model to obtain a differential flat feedback control law. For details, refer to step S3 in Embodiment 1.

[0105] The feedback control law optimization module 4 is used to optimize the control parameters of the feedback control law by using the cha...

Embodiment 3

[0108] An embodiment of the present invention provides a non-transitory computer storage medium, the computer storage medium stores computer-executable instructions, and the computer-executable instructions can execute the servo motor control method in any of the first embodiments above. Wherein, the above-mentioned storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviation: HDD) or a solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above types of memories.

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Abstract

The invention provides a servo motor control method and device. The servo motor control method comprises: acquiring historical data of a running speed of a servo motor; carrying out offline identification on the historical data based on a particle swarm algorithm and constructing an object model of a servo drive system; designing an discrete time differential flat controller according to the object model to obtain a differential flat feedback control law; optimizing control parameters of the feedback control law by using a chaotic dynamic fireworks algorithm so as to obtain an optimized feedback control law; and according to the optimized feedback control law, controlling the running speed of the servo motor. Therefore, the rotating speed control of the servo motor is realized; the operation becomes simple; the system can quickly return to the stable state when being affected by the strong external disturbance; the adjustment time is reduced and the robustness and stability of the whole system are improved; and thus the control performance of the entire system is improved. The servo motor control method and device have the great significance in the actual industrial production.

Description

technical field [0001] The invention relates to the field of industrial automation control, in particular to a servo motor control method and device. Background technique [0002] Active Disturbance Rejection Control (ADRC for short) not only inherits the advantages of traditional PID control, but also integrates modern control theory. After nearly 20 years of development and testing, it has been widely used in practical engineering. [0003] As a high-end product of transmission technology in the field of motion control, the servo drive system has powerful functions, small size and outstanding control effect, and is widely used in industrial production. In practical industrial applications, due to the simple and easy-to-operate characteristics of the PID controller, most of the servo motor control adopts the PID control algorithm. However, when the system parameters change with time or the system is subject to a large external disturbance, The traditional PID control algor...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 黄从智穆士才张建华侯国莲
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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