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Prediction-function-based variable-domain fuzzy PI control method of alternating current servo motor

A technology of AC servo motor and predictive function control, applied in electric controllers, controllers with specific characteristics, etc., can solve problems such as difficulty in fuzzy control rule design and insufficient control performance

Inactive Publication Date: 2020-04-14
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
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  • Claims
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Problems solved by technology

[0006] Aiming at the above-mentioned problems and deficiencies in the prior art, the present invention provides a variable universe fuzzy PI control method for an AC servo motor based on a predictive function. The method uses a variable universe strategy to dynamically adjust the control range of fuzzy rules, changing the The number of rules near the input of the current fuzzy controller overcomes the problem of insufficient control performance caused by the difficulty in the design of fuzzy control rules; at the same time, the use of predictive function control to predict the future state of the AC servo motor control system provides input information for the variable domain fuzzy controller. The parameters of fuzzy controller and PI controller can be adjusted quickly

Method used

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  • Prediction-function-based variable-domain fuzzy PI control method of alternating current servo motor
  • Prediction-function-based variable-domain fuzzy PI control method of alternating current servo motor
  • Prediction-function-based variable-domain fuzzy PI control method of alternating current servo motor

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Embodiment

[0100] A variable universe fuzzy PI control method for AC servo motors based on predictive functions, in which the AC servo motor speed control system based on PI control strategy adopts such as figure 2 With the control structure shown, the motor is equivalent to the first-order transfer function In the figure ω r is the input command speed, ω is the feedback speed, i q is the q-axis command current, K f is the torque coefficient, J is the moment of inertia of the motor, B is the viscous friction coefficient, T l is the load disturbance including load torque, friction torque and cogging torque. Although the AC servo motor speed control system is a typical nonlinear complex system, it can be linearized without affecting the control effect. In this embodiment, the AC servo motor speed control system is described by a first-order autoregressive model (ARX):

[0101] ω(t)=aω(t-1)+bi q (t-1) (12)

[0102] In formula (12), a and b are model parameters to be identified. Th...

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Abstract

The invention discloses a prediction-function-based variable-domain fuzzy PI control method of an alternating current servo motor. A PI controller, a variable-domain fuzzy controller and a predictionfunction controller are arranged. The PI controller is used as a main controller to adjust the rotating speed of the servo motor; the prediction function controller predicts the future state of the system according to a current input instruction, a control signal and a feedback output of the system; the variable-domain fuzzy controller uses prediction information as input to adjust the gain of the PI controller in an on line manner. Meanwhile, a variable-domain telescopic factor is designed, the discourse domain of the fuzzy controller is adjusted online in advance by utilizing prediction information, and fuzzy rules for adjusting PI control gain are indirectly increased. Compared with traditional PI control and fuzzy PI control, the variable-domain fuzzy control method inherits the advantage of high precision of variable-domain fuzzy control and the dynamic response performance and disturbance resistance are enhanced; and the method has more outstanding advantages for application occasions with uncertain disturbance and large nonlinearity.

Description

technical field [0001] The invention relates to the technical field of servo motor control, in particular to a variable universe fuzzy PI control method for an AC servo motor based on a predictive function. Background technique [0002] An AC servo motor is a machine that converts electrical energy into mechanical energy. It consists of an electromagnet winding or distributed stator winding for generating a magnetic field and a rotating armature or rotor. AC servo motors have the advantages of stable operation, good speed controllability, and fast response. At present, they have been widely used in CNC machine tools, industrial robots, medical equipment and other equipment. With the continuous development of industrial production, higher and higher requirements are put forward for AC servo motor control. Research on high-performance servo control system has become one of the key issues to improve the level of equipment manufacturing industry. [0003] The main problems and ...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 宋宝李虎陈天航唐小琦周向东杨承博刘永兴邹益刚潘佳明姜茂文
Owner HUAZHONG UNIV OF SCI & TECH
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