Adaptive backlash oscillation suppression method for double-inertia servo system
A servo system and dual inertia technology, applied in the field of adaptive backlash oscillation suppression, can solve problems such as backlash oscillation
Active Publication Date: 2021-04-23
XIAN UNIV OF TECH
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[0004] The purpose of the present invention is to provide an adaptive backlash oscillation suppression method for a dual inertia servo system, which solves the problem of oscillation caused by backlash in the existing dual inertia servo system
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[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0045] The present invention is an adaptive backlash oscillation suppression method for a dual-inertia servo system, such as figure 1 As shown, the dual-inertia servo control system with backlash includes three-loop control of position, speed loop and current loop. phase current i a i b i c After being measured by the current sensor, the stator current component i in the two-phase stationary coordinate system is obtained by Clarke transformation α i β Then the stator current component i in the two-phase rotating coordinate system is obtained by Park transformation d i q . Position pulse given θ * Given by the host computer, θ * The position θ obtained from the encoder side of the driven side l The difference is input to the position regulator, and the output of the position regulator is used as the speed given Drive side rotor spe...
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The invention discloses an adaptive backlash oscillation suppression method for a double-inertia servo system. The method specifically comprises the following steps: 1, building a mathematic model of a permanent magnet synchronous motor, and obtaining an electromagnetic torque expression; 2, establishing a double-inertia servo transmission system dynamics mathematical model by taking the rotating speed and the position as state variables; 3, designing a sliding mode control rate of a sliding mode controller based on the mathematical model of the double-inertia system dynamics obtained in the step 2 and the electromagnetic torque expression in the step 1 by adopting a sliding mode control method for the rotating speed loop; and 4, establishing a micro asymmetric dead zone model, and identifying parameters of the micro asymmetric dead zone model by adopting a differential evolution algorithm, the identified parameters being unknown non-micro backlash shaft torque disturbance term parameters of the sliding mode control rate in step 3. The method solves the problem of oscillation caused by backlash in an existing double-inertia servo system.
Description
technical field [0001] The invention belongs to the technical field of high-precision AC servo control systems, and relates to an adaptive backlash oscillation suppression method of a dual-inertia servo system. Background technique [0002] With the continuous development of servo drive technology, high-performance servo systems have been widely used in various fields, and their related research and development have also received extensive attention. The servo system was first used in military defense, such as radar tracking and positioning, automatic aiming, missile launch, etc., and later it was widely used in industry, suitable for CNC machine tools, paper machines, manipulators and milling machines. Direct drive systems with highly rigid transmission components are mainly used in high-performance industrial applications. [0003] Servo drive control technology plays a pivotal role in intelligent manufacturing and industrial digitalization. However, some nonlinear pheno...
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Login to View More IPC IPC(8): H02P21/00H02P21/05H02P6/34H02P25/026H02P27/08
CPCH02P21/0007H02P21/05H02P6/34H02P25/026H02P27/08H02P2205/07H02P2205/01H02P2207/05
Inventor 尹忠刚李通白聪罗培恩
Owner XIAN UNIV OF TECH