Fuzzy equivalent input interference method-based speed loop control parameter self-tuning method

Abstract

The invention discloses a fuzzy equivalent input interference method-based speed loop control parameter self-tuning method. Aiming at the problems of servo control system performance reduction and instability caused by load and working condition changes, main parameters reflecting control performance in servo system model description are determined through correlation analysis, and a function relationship between to-be-tuned control parameters and system parameters of a permanent magnet synchronous motor is established; and aiming at the problem that servo system speed loop control parametersare not self-tuned or low in self-tuning efficiency, comprehensive evaluation indexes of servo system positional deviation during load mutation, mechanical vibration and external disturbance are combined to execute speed loop PI parameter self-tuning by using a fuzzy decision method, and disturbance inhibition is realized by using an equivalent input interference method, thereby solving the problem that both the self-tuning speed and disturbance inhibition effect cannot be considered at the same time.

Description

technical field [0001] The invention relates to the field of servo motors, in particular to a speed loop control parameter self-tuning method based on a fuzzy equivalent input disturbance method. Background technique [0002] With the rapid development of the industrial control industry, the demand for motor control systems is also expanding. Break through key technologies such as servo system networking, modularization, intelligence, safety, high efficiency and energy saving, and develop high-quality serialized servo motors and drive products required by industrial robots. economic and social benefits. [0003] At present, the parameter setting work of the controller is mainly divided into two types: manual adjustment method and automatic adjustment method; manual adjustment of the controller parameters by observing the law of the operating state of the system under different parameters is time-consuming and laborious, and the effect is not good. The work of parameter set...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to solve the problem in the prior art that the performance of the servo control system is degraded or even unstable due to changes in load and working conditions, and the speed loop control parameters of the servo system have not achieved self-tuning or the self-tuning efficiency is not high. To solve the technical defects of the problem, provide a speed loop control parameter self-tuning method based on fuzzy equivalent input disturbance method

[0006] Aiming at the performance degradation or even instability of the servo control system caused by changes in load and working conditions, the main parameters reflecting the control performance in the description of the servo system model are determined through correlation analysis, and the functional relationship between the control parameters to be tuned and the system parameters of the permanent magnet synchronous motor is established

[0007] Aiming at the problem that the speed loop control parameters of the servo system have not realized self-tuning or the self-tuning efficiency is not high, combined with the comprehensive evaluation index of the position deviation of the servo system when the load mutation, mechanical vibration and external disturbance occur, the fuzzy decision-making method is used to implement the speed loop PI parameter self-tuning. Tuning, the equivalent input disturbance method realizes disturbance suppression, and solves the problem that it is difficult to balance the effect of self-tuning speed and disturbance suppression

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