Photoelectric turntable position tracking control method based on robust generalized predictive control

Abstract

Provided is a photoelectric turntable position tracking control method based on robust generalized predictive control. The invention relates to a permanent magnet synchronous motor tracking control technology, and provides a photoelectric turntable position tracking control method based on robust generalized predictive control. The position tracking control method can simplify a complex cascade control structure, improve the dynamic response performance, and ensure a good control effect when a system is subjected to parameter change and external disturbance. Compared with a traditional cascadeposition and speed controller, a generalized predictive controller is integrally applied to the position tracking and speed tracking links in the tracking control method of the invention, the structure of a cascade position and speed tracking controller is simplified, faster dynamic response is obtained, there are fewer adjustment parameters, engineering implementation is facilitated, and onlineadjustment is simple. In addition, the application of a disturbance compensator can improve the robustness and disturbance resistance of the system under the condition of ensuring that a mechanical loop predictive controller is still simple in structure and quick in response.

Description

technical field [0001] The invention relates to the tracking control technology of a permanent magnet synchronous motor, in particular to a position tracking control method of a photoelectric turntable based on robust generalized predictive control. Background technique [0002] Generalized predictive control is an advanced control method widely used in motor motion control systems. It has the advantages of fast dynamic response, simple design principle and easy implementation. At the same time, due to its simple and compact structure, high power density, and good controllability, permanent magnet synchronous motors have been widely promoted in different fields such as electric vehicle drives, high-precision CNC machine tools, and industrial robots, especially in the field of photoelectric servo turntables. , due to the simple mechanical structure, high power density and good driving performance of permanent magnet synchronous motors, they have been widely used in this field...

AI Technical Summary

Problems solved by technology

The design of the three-loop cascaded control system depends on the transfer function of the system, and its parameter design directly affects the control structure of the system, and in actual engineering, the design of each loop structure is connected in series, and its design analysis requires certain experience. It will be affected by the time-varying disturbance factors of the system, and the parameters are not easy to adjust

However, the essence of this global integrator is to change the structure of the original predictive controller. While eliminating the static error, it will cause changes in the dynamic performance of the system, especially when tracking changing instructions, the integrator structure will cause the system overshoot, reducing the dynamic performance of the system

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