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A Fractional Model Identification Method of Servo System Considering Delay

A servo system and model identification technology, applied in the field of servo control, can solve the problems of ignoring the delay link, the friction force cannot be strictly proportional to the speed, and the fractional order characteristics are not considered, so as to achieve the effect of eliminating the influence.

Active Publication Date: 2022-02-08
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 proportional to the speed, which will cause the system to produce fractional-order characteristics; (2) Most of the traditional methods use time-domain signals to identify model parameters, and there is no Determine the model structure and obtain the model parameters from the perspective of the frequency domain; (3) When modeling the servo system in the current data, in order to simplify the model, the delay link is mostly ignored, and the actual servo system cannot be modeled. Accurately described, so the control rate designed based on this model has limited dynamic following performance

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  • A Fractional Model Identification Method of Servo System Considering Delay
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  • A Fractional Model Identification Method of Servo System Considering Delay

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[0057] 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.

[0058] 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 i dInput 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 ...

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Abstract

The invention discloses a servo system fractional-order model identification method considering the delay link, comprising the following steps: establishing a servo system fractional-order model to be identified considering the delay factor; obtaining the frequency domain characteristics of the servo system; constructing a model identification target function ; Calculate the model parameter matrix of the servo system; determine the optimal fractional order, and obtain the fractional order that meets the set threshold; determine the delay link factor. The invention constructs a fractional-order system model with a delay link in the servo system, and uses the frequency domain response data of the system to obtain model parameters, thereby improving the modeling and parameter identification accuracy of the servo system.

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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Patent Type & Authority Patents(China)
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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