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Drive of embedded disturbance estimation compensation algorithm

A driver and algorithm technology, applied in electric controllers, controllers with specific characteristics, etc., can solve the problems of incomplete feedback information and low control accuracy of the linear servo motor drive system, and improve the accuracy and bandwidth of high-speed precision motion control. High, performance-enhancing effects

Active Publication Date: 2019-04-05
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a driver that adds disturbance estimation and compensation algorithms in servo control, so as to achieve the purpose of eliminating disturbance and improving control accuracy, and solve the problem of existing linear servo motor drive. The problem of incomplete system feedback information and low control accuracy

Method used

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  • Drive of embedded disturbance estimation compensation algorithm
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  • Drive of embedded disturbance estimation compensation algorithm

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0091] The control process targeted by the controller in this embodiment is single-measurement-displacement-single-drive motion control. In this embodiment, the rigid-flexible coupling platform mainly consists of mechanical guide rails, frame rigid bodies, flexible hinges, and working platforms. Set x as the displacement of the working platform, m as the inertia of the working platform, and F as the servo motor acting on the working platform The driving force of , f is the disturbance force of the system, s, v, a are the displacement, velocity and acceleration of motion planning respectively.

[0092] The kinematic response equation of the working platform is:

[0093]

[0094] After disturbance compensation, the dynamic response equation of the working platform is:

[0095]

[0096] In this embodiment, the equivalent dynamic response equation of the working platform obtained by Equation 2 is a frictionless ideal platform. Carry out motion planning for the working plat...

Embodiment 2

[0107] The control process targeted by the controller in this embodiment is single-measurement displacement-velocity single-drive motion control. In this embodiment, the rigid-flexible coupling platform mainly includes mechanical guide rails, frame rigid bodies, flexible hinges, and working platforms. Set x as the displacement of the working platform, is the speed of the working platform, m is the inertia of the working platform, F is the driving force of the servo motor acting on the working platform, f is the disturbance force of the system, s, v, a are the displacement, velocity and acceleration of the motion planning, respectively.

[0108] The kinematic response equation of the working platform is:

[0109]

[0110] After disturbance compensation, the dynamic response equation of the working platform is:

[0111]

[0112] In this embodiment, the equivalent dynamic response equation of the working platform obtained by Equation 7 is a frictionless ideal platform. I...

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Abstract

The invention discloses a drive of an embedded disturbance estimation compensation algorithm. The drive comprises a disturbance detection module and a main control module. The disturbance detection module is used for acquiring motion feedback information of a working platform and performing motion planning on the working platform to obtain motion planning information. The main control module is used for estimating disturbance according to the difference between the motion planning information and the motion feedback information, outputting the controlling quantity and filtering and then compensating the output controlling quantity to obtain final controlling quantity for controlling a driving module of a servo motor. A controller of the drive is additionally provided with a motion feedbackmodule on the basis of a traditional closed-loop control system for detecting the internal and external disturbance of a control system, is combined with an ideal motion model in a motion planning module, and then feeds a comparison result back to a control algorithm for compensation, thereby eliminating the disturbance, improving the control accuracy, and solving the problem that an existing linear servo motor driving system has incomprehensive feedback information and low control precision.

Description

technical field [0001] The invention belongs to the technical field of automation control, and in particular relates to a driver embedded with a disturbance estimation and compensation algorithm in a linear servo motor drive system. Background technique [0002] At present, servo control systems occupy an important position in industries such as high-end CNC machine tools, precision electronic packaging equipment and robots. With the continuous development of the high-speed precision manufacturing industry, it provides a huge development prospect and space for the high-speed precision servo control system industry. [0003] The control mode of the servo control system is mainly divided into full-closed-loop control and non-full-closed-loop control. Compared with non-closed-loop control, the control accuracy of full-closed-loop control is higher, but the traditional closed-loop control system only performs closed-loop control by comparing the relationship between the target ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 邝俊澎杨志军白有盾
Owner GUANGDONG UNIV OF TECH