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1/2 power finite value attraction repetitive control method for servo motor driving system

A drive system, servo motor technology, applied in the direction of motor generator control, AC motor control, electronic commutation motor control, etc., can solve the problem that the controller cannot be realized

Active Publication Date: 2020-10-27
ZHEJIANG UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

Therefore, it is often impossible to design controllers directly based on the conventional law of attraction.

Method used

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  • 1/2 power finite value attraction repetitive control method for servo motor driving system
  • 1/2 power finite value attraction repetitive control method for servo motor driving system
  • 1/2 power finite value attraction repetitive control method for servo motor driving system

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Embodiment Construction

[0102] The specific embodiments of the present invention will be further described in conjunction with the accompanying drawings.

[0103] refer to Figure 1-Figure 33 , a 1 / 2 power finite value attraction repetitive control method for a servo motor drive system, wherein Fig. 1 is a block diagram of a servo motor drive control device; figure 2 is the equivalent disturbance observer block diagram; image 3 is the block diagram of the repetitive controller for the 1 / 2 power finite value law of attraction.

[0104] A 1 / 2 power finite value attraction repetitive control method applied to a servo motor drive system using equivalent disturbance compensation, comprising the following steps:

[0105] Step 1. Set a reference signal whose periodicity satisfies (1);

[0106] Step 2. Define tracking error (2);

[0107] Step 3. Given continuous law of attraction (3);

[0108] Step 4. discretize the continuous law of attraction, and construct the discrete law of attraction (5);

[01...

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Abstract

The invention discloses a 1 / 2 power finite value attraction repetitive control method for a servo motor driving system. The method comprises the steps of enabling a given module to generate a periodicreference signal, and constructing a periodic feedback link; introducing equivalent disturbance compensation into a 1 / 2 power finite value attraction law, and estimating equivalent disturbance through a disturbance observer; constructing an ideal error dynamic state (an attraction law with an interference suppression effect), designing a controller according to the ideal error dynamic state, andtaking a signal obtained by current calculation as the input of a servo system; carrying out specific controller parameter setting according to indexes representing system convergence performance, andproviding a computational formula representing an attraction domain, a monotone decreasing area, an absolute attraction layer, a steady-state error band and the maximum convergence step number in thetracking error convergence process. According to the 1 / 2 power finite value attraction repetitive controller provided by the invention, complete suppression of periodic components of interference signals can be realized, and the influence of aperiodic components of the interference signals is suppressed.

Description

technical field [0001] The invention relates to a 1 / 2 power finite value attraction repetitive control method based on disturbance compensation, which can be used for the repetitive control of a servo motor drive system, and is also suitable for other industrial processes with periodical operation. Background technique [0002] In actual industrial situations, there are a large number of control systems that track periodic reference signals, such as servo motor drive systems that perform repetitive tasks. The repetitive control technology is applicable to the tracking control system under the periodic reference signal. The current tracking error signal is used to correct the control input at the corresponding moment of the previous cycle to form the control input at the current moment. The closed-loop system can completely suppress the periodic interference, thereby realizing precise control. The traditional repetitive control technology is a control method based on the inte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/00H02P21/13H02P21/18H02P21/22H02P25/022
CPCH02P21/0003H02P21/13H02P21/18H02P21/22H02P25/022
Inventor 孙明轩薛良曾朱鹏升邹胜祥李威李杏
Owner ZHEJIANG UNIV OF TECH
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