Servo system fractional order model identification method with time delay link taken into consideration

A servo system and model identification technology, applied in the field of servo control, can solve the problems of limited dynamic follow-up performance of the control rate of model design, the friction force cannot be strictly proportional to the speed, and the servo system cannot be described.

Active Publication Date: 2019-06-28
GUANGDONG INTELLIGENT ROBOTICS INST
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Problems solved by technology

The current traditional model identification method has three deficiencies: (1) The mathematical model determined in the traditional method does not consider the fractional order characteristics existing in the system
In the traditional servo system, the integer-order model is used. The premise is that the inertia and friction of the motor are ideal, that is, the load inertia is evenly distributed, and the friction is strictly proportional to the speed. However, In the actual process, the mass of the load is difficult to distribute evenly, and the friction force cannot be strictly prop

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  • Servo system fractional order model identification method with time delay link taken into consideration
  • Servo system fractional order model identification method with time delay link taken into consideration
  • Servo system fractional order model identification method with time delay link taken into consideration

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[0058] In order to further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0059] as attached figure 1 , 2 As shown in and 3, the corresponding servo system of the present invention inputs a reference command to the speed loop controller, and the speed loop controller outputs the current input signal i q to the PI controller, and then the PI controller outputs Park inverse transformation, and at the same time there is a current signal id Input to another PI controller, this PI controller also outputs to Park inverse converter, two PI controllers are connected with SVPWM space vector pulse width modulation, SVPWM space vector pulse width modulation output to inverter, inverter Output three-way voltage u a , u b , u c to the servo motor PMSM, to the voltage line u a , u b...

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Abstract

The invention discloses a servo system fractional order model identification method with a time delay link taken into consideration. The method comprises steps as follows: establishing a to-be-identified fractional order model of a servo system with a time delay factor taken into consideration; acquiring frequency domain characteristics of the servo system; constructing a model identification target function; calculating a model parameter matrix of the servo system; determining the optimal fractional order to obtain the fractional order meeting a set threshold value; determining a factor of the time delay link. The fractional order system model with the time delay link is constructed for the servo system, model parameters are acquired by use of frequency domain response data of the system,and the modeling and parameter identification accuracy of the servo system is improved.

Description

technical field [0001] The invention belongs to the technical field of servo control, in particular to a fractional order model identification method of a servo system considering the delay link. Background technique [0002] Servo systems are widely used in advanced intelligent manufacturing fields such as industrial robots and numerical control systems. The motion control performance of the servo system will directly affect the operating efficiency and positioning accuracy of the mechatronics equipment. In order to realize the high-performance motion control of the servo system, precise mathematical modeling is required. [0003] The traditional model identification method first determines the structure of the system model, and then uses the collected data to determine the model parameters through the system excitation of the servo system. The current traditional model identification method has three deficiencies: (1) The mathematical model determined in the traditional ...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 张国军谢远龙王书亭黄禹章小龙孟杰蒋立泉李根周晓晓陈浩
Owner GUANGDONG INTELLIGENT ROBOTICS INST
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