Limit cycle suppression design method for ultrasonic motor servo control system based on gain limiting compensator

A servo control system, ultrasonic motor technology, applied in piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve problems such as system positioning performance degradation, and achieve reasonable device design. , tracking effect improvement, good dynamic characteristics

Active Publication Date: 2019-01-01
MINJIANG UNIV
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Problems solved by technology

[0002] In the existing ultrasonic motor servo control system, when high-precision positioning is required, if the gain of the controller is high, the limit cycle of the system will be caused, which will significantly reduce the positioning performance of the system

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  • Limit cycle suppression design method for ultrasonic motor servo control system based on gain limiting compensator
  • Limit cycle suppression design method for ultrasonic motor servo control system based on gain limiting compensator
  • Limit cycle suppression design method for ultrasonic motor servo control system based on gain limiting compensator

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] It should be pointed out that the following detailed description is exemplary and is 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.

[0031] 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 combina...

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Abstract

The invention relates to a limit cycle suppression design method for an ultrasonic motor servo control system based on a gain limiting compensator. An ultrasonic motor is arranged; an output shaft atone side of the ultrasonic motor is connected with a photoelectric encoder and an output shaft at the other side of the ultrasonic motor is connected with a flywheel inertial load; the output shaft ofthe flywheel inertia load is connected to a torque sensor via a coupler; and a signal output terminal of the photoelectric encoder and a signal output terminal of the torque sensor are respectively connected to a control system. The control system is established based on a gain limiting scheme; and with the compensator, the limiting cycle of the servo system is minimized, so that the good servo control performance is obtained.

Description

technical field [0001] The invention relates to the field of motor controllers, in particular to a limit cycle suppression design method for an ultrasonic motor servo control system based on a gain-limited compensator. Background technique [0002] In the existing ultrasonic motor servo control system, when high-precision positioning is required, if the gain of the controller is high, the limit cycle of the system will be caused, which will significantly reduce the positioning performance of the system. For friction and disturbance nonlinearity in the system, if the compensation scheme consists of a dead zone function and an integral term, then the system can be kept in a stable range by adjusting the coefficient. This method not only makes the system stable, but also makes the system stable when setting the gain , can avoid incorrect gain setting to make the system produce limit cycle. Contents of the invention [0003] In view of this, the purpose of the present inventi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02N2/14
CPCH02N2/14
Inventor 傅平
Owner MINJIANG UNIV
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