Servo system residual vibration suppression method based on parameterized feedforward

Abstract

The invention discloses a servo system residual vibration suppression method based on parameterized feedforward, and belongs to the technical field of mechanical equipment control. The invention discloses a servo system residual vibration suppression method based on parameterized feedforward, which comprises the following steps of: calculating a feedforward force through an input track and a parameterized feedforward controller by utilizing a primary function parameterized feedforward controller; introducing a performance objective function of a parameterized feed-forward control algorithm according to an optimal control theory to identify parameters of the input shaping filter and the feed-forward controller; analyzing the error of the parameterized feedforward control and the convergence of the identification parameters; and solving the optimal value of each parameter. Through continuous exploration and test, a parameterized feed-forward control algorithm is adopted, the control difficulty of the servo system can be effectively reduced, the calculated amount of a processor is reduced, the flexibility is high, the operation speed is high, the robustness is good, the control effect is good, and the control requirement of the servo system can be met.

Description

technical field [0001] The invention relates to a method for suppressing residual vibration of a servo system based on parameterized feedforward, and belongs to the technical field of mechanical equipment control. Background technique [0002] In the servo system, it is usually necessary for the system to track a given trajectory to minimize the error. However, due to the flexible characteristics in the motion process, there will always be residual vibration during high-speed positioning, so the positioning accuracy and requirements of the system will be affected. have a great impact. In the servo system control method, the traditional feedback controller can only guarantee the stability of the system, but there is a time lag, which cannot meet the requirements of high positioning accuracy, fast response speed, and good robustness of the system; the feedforward controller can The input trajectory gives the control amount in advance, which is predictable. Therefore, a high-...

AI Technical Summary

Problems solved by technology

At present, most of the design methods for feed-forward controllers use feed-forward force injection or model-based inverse methods. Among them, the method of feed-forward force injection can realize the residual vibration suppression of fixed and repeated trajectories, and its performance will deteriorate when the trajectory changes. ; The feed-forward control method based on model inversion depends on the parameter model, and its performance will deteriorate when the system is a non-minimum phase system, and its parameter model is difficult to identify for complex systems.

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