A Synchronous Control Method of Double-Drive Vertical Lifting Servo System under Variable Load Conditions
A technology of vertical lifting and synchronous control, applied in the direction of electric controllers, controllers with specific characteristics, etc.
Active Publication Date: 2022-05-20
CENT SOUTH UNIV
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[0004] The present invention aims to solve the problem of synchronous control of the dual-drive vertical lifting servo system under variable load conditions, and proposes a dual-drive synchronous control method, which can ensure high-precision trajectory tracking and single-servo control during the movement of the entire vertical lifting system. Synchronization between systems
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[0011] Step 1: For the commonly used servo motor + reducer + rack and pinion transmission system, establish the general form of its dynamic model. Such as figure 1 As shown, considering the influence of external environmental disturbance and uncertain factors of the internal structure of the system, they are equivalent to interference items together, so the dynamic mathematical model can be established as follows:
[0012]
[0013] T b / T a = θ m / θ=i
[0014]
[0015] Where u(t) is the output torque of the servo motor, J m and J b are the moments of inertia on the output shaft of the servo motor and the reducer, respectively, θ m and θ are the output angular displacements of the servo motor and reducer respectively, T a and T b is the input and output torque of the reducer, i is the reduction ratio of the reducer, and d(t) represents the equivalent interference item of the external environment disturbance and the uncertain factors of the internal structure of th...
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The invention discloses a synchronous control method for a dual-drive vertical lift servo system under variable load conditions. It is used to improve the trajectory tracking and accuracy of the dual-drive vertical lift servo system under the premise of variable load, as well as the synchronization performance between the bilateral servo systems, to enhance the robustness of the entire system, free from interference from the external environment and the internal structure of the system the influence of uncertain factors. The method mainly includes three parts. The first part summarizes the dynamic mathematical model of the general servo motor + reducer + gear transmission system. The second part combines the advantages of the PID control method and the characteristics of the global sliding mode control method. Therefore, the ability of the single servo drive system to resist external interference and the influence of internal structural uncertainty is improved. The third part introduces the control strategy of cross-coupling to further improve the synchronization performance between bilateral servo systems on the basis of PID and global sliding mode control methods. Therefore, the dynamic performance and synchronization of the entire dual-drive vertical lift servo system are guaranteed.
Description
technical field [0001] The invention relates to the field of synchronous control of a dual-drive servo system, in particular to a synchronous control method of a dual-drive vertical lift servo system under variable load conditions. Background technique [0002] With the gradual improvement and popularization of servo drive systems and the development of high-precision synchronous position control technology, high-performance multi-axis servo drive systems have been widely used in modern manufacturing in recent years, such as in circuit assembly and computer numerical control machine tools. Gantry structure. Among the many multi-axis servo drive systems, the dual-drive servo system is the most common in the development of today's modern manufacturing industry due to its simple structure and safe and reliable performance. What's more, the dual-drive servo system can not only provide huge thrust for the whole system, but also provide a larger working range for the working plat...
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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 钟国梁石准王昌明
Owner CENT SOUTH UNIV