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A 1/2 power finite value attraction repetitive control method for a servo motor drive system

A drive system, servo motor technology, applied in motor generator control, AC motor control, electronic commutation motor control and other directions, can solve the problem of the controller can not be realized, achieve fast convergence performance, effective interference suppression, easy to achieve engineering Effect

Active Publication Date: 2022-04-05
ZHEJIANG UNIV OF TECH
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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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  • A 1/2 power finite value attraction repetitive control method for a servo motor drive system
  • A 1/2 power finite value attraction repetitive control method for a servo motor drive system
  • A 1/2 power finite value attraction repetitive control method for a servo motor drive 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

A 1 / 2 power finite value attraction repetitive control method for a servo motor drive system, a given module generates a periodic reference signal, and a periodic feedback link is constructed; a 1 / 2 power finite value attraction law is introduced Equivalent disturbance compensation, using the disturbance observer to estimate the equivalent disturbance; constructing the ideal error dynamics (law of attraction with disturbance suppression), and designing the controller according to the ideal error dynamics, using the current calculated signal as the input of the servo system ; The specific controller parameters are adjusted according to the convergence performance index of the system, and the calculation formulas of the attraction region, monotonically decreasing region, absolute attraction layer, steady-state error band and maximum convergence steps that characterize the tracking error convergence process are given. The 1 / 2 power finite value attraction repetition controller provided by the invention can completely suppress the periodic component of the interference signal and suppress the influence of its non-periodic component.

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 Patents(China)
IPC IPC(8): H02P21/13H02P21/14H02P21/18H02P21/22H02P25/022
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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