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Dual Channel Feedback Disturbance Estimation Compensation Driver

A driver, two-channel technology, applied in the estimation/correction of motor parameters, motor control, observer control, etc., can solve the problem that the moving target cannot quickly and smoothly reach a stable state, the control system is disturbed, and it is difficult to meet high-speed precision motion control, etc. question

Active Publication Date: 2021-01-05
FOSHAN HUADAO SUPER PRECISION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, in the linear servo motor drive system, the traditional position closed-loop control ignores the disturbance caused by the friction force and the elastic deformation of the platform, resulting in the fact that the moving target cannot reach a stable state quickly and smoothly in the actual control process.
Obviously, the compensation scheme and control method of the traditional servo system are difficult to meet the growing requirements of high-speed precision motion control

Method used

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  • Dual Channel Feedback Disturbance Estimation Compensation Driver
  • Dual Channel Feedback Disturbance Estimation Compensation Driver
  • Dual Channel Feedback Disturbance Estimation Compensation Driver

Examples

Experimental program
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Embodiment 1

[0090] This embodiment is a single-drive motion control for double grating ruler measurement. In the embodiment of the present invention, the rigid-flexible coupling platform mainly includes a mechanical guide rail, a frame rigid body, a flexible hinge, and a platform rigid body. Set x M , x m are the displacements of the frame rigid body and the platform rigid body, respectively, are the velocities of the rigid body of the frame and the rigid body of the platform, M and m are the masses of the rigid body of the frame and the rigid platform of the platform respectively, k and c are the stiffness and damping of the flexible hinge respectively, F is the driving force of the driving unit acting on the rigid body of the platform, and f is The friction force between the frame rigid body and the mechanical guide rail, s, v, a are the displacement, velocity and acceleration of the motion planning, respectively.

[0091] The mechanical response equation of platform rigid body motio...

Embodiment 2

[0110] This embodiment is a grating ruler plus a capacitive sensor to measure single-drive motion control. In this embodiment, the rigid-flexible coupling platform mainly consists of mechanical guide rails, frame rigid bodies, flexible hinges, and platform rigid bodies. Set x m is the displacement of the platform rigid body, is the velocity of the platform rigid body, x is the relative displacement between the platform rigid body and the frame rigid body, is the relative velocity between the rigid body of the platform and the rigid body of the frame, M and m are the masses of the rigid body of the frame and the rigid body of the platform respectively, k and c are the stiffness and damping of the flexible hinge respectively, F is the driving force of the driving unit acting on the rigid body of the platform, f is the friction force between the frame rigid body and the mechanical guide rail, s, v, a are the displacement, velocity and acceleration of the motion planning, respe...

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Abstract

The invention discloses a dual-channel feedback disturbance estimation compensation driver. The dual-channel feedback disturbance estimation compensation driver comprises a disturbance detection module and a master control module, wherein the disturbance detection module is used for acquiring motion feedback information of a working platform and a disturbance signal of the working platform, and the master control module is used for performing motion planning on the working platform to obtain motion plan information of the working platform, obtaining control quantity of the working platform according to the motion plan information and the motion feedback information, filtering and compensating the control quantity, estimating disturbance difference of the working platform and obtaining thefinal control quantity which is used for controlling a driving module of a servo motor by compensating an estimation value of the disturbance difference to the control quantity; and when an input exists in another one channel and a motion plan command is used for substituting, and the single-feedback driving estimation compensation function also can be achieved by the driver. The dual-channel feedback disturbance estimation compensation driver is implemented from a bottom layer of the driver and is small in disturbance and high in bandwidth; and by additionally arranging a second motion feedback module, the motion deviation measurement can be achieved by a single driver, and the performance of a control system is improved.

Description

technical field [0001] The invention belongs to the technical field of automation control, and in particular relates to a dual-channel feedback disturbance estimation compensation driver. 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-full-closed-loop control, the control precision 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 quantity and the actual quantity. For ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00H02P23/12H02P23/14
CPCH02P29/00H02P2203/03H02P2203/05H02P2205/01H02P2205/07
Inventor 杨志军邝俊澎白有盾
Owner FOSHAN HUADAO SUPER PRECISION TECH CO LTD