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Method and device for debugging control parameters of servo control system in non-step tracking state

A technology of servo control system and control parameters, which is applied in the field of servo system control, can solve problems such as unclear control algorithm, poor system stability, and no rules for parameter debugging, so as to reduce debugging workload, improve accuracy, and shorten debugging time. the effect of time

Pending Publication Date: 2022-03-01
HEBEI HANGUANG HEAVY IND
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Problems solved by technology

[0005] In order to solve the above technical problems, the present invention proposes a control parameter debugging method and device in the non-step tracking state of the servo control system. Technical problems that can be followed and the system stability is poor

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  • Method and device for debugging control parameters of servo control system in non-step tracking state
  • Method and device for debugging control parameters of servo control system in non-step tracking state
  • Method and device for debugging control parameters of servo control system in non-step tracking state

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Embodiment Construction

[0028] combine first Figure 1-3 The process flow of a method for debugging control parameters of a servo control system in a non-step tracking state according to an embodiment of the present invention is described. The method includes the following steps:

[0029] Step S101: The control object of the tracking loop of the servo control system is the deviation of the tracked target relative to the initial tracking point, and determine the control parameters to be debugged when the servo control system is in the non-step tracking state, and the control parameters include tracking proportional items and track credit items;

[0030] Step S102: Initialize the value of the tracking proportional item as the data obtained from the simulation of the tracking loop of the servo control system, increase the value of the tracking proportional item with a fixed step size until the wave gate of the tracked target shakes, and the The numerical value of the tracking ratio item at this moment ...

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Abstract

The invention provides a control parameter debugging method and device for a servo control system in a non-step tracking state. The method comprises the following steps: determining a to-be-debugged control parameter when the servo control system is in the non-step tracking state; initializing a numerical value of a tracking proportional item as data obtained by tracking loop simulation of the servo control system, increasing the numerical value of the tracking proportional item until a wave gate of the tracked target shakes, and taking the numerical value of the tracking proportional item at the moment as a tracking proportional intermediate item; the relative deviation is gradually reduced by debugging the numerical value of the tracking integral item, and when a preset condition is met, the numerical value of the tracking loop integral item of the servo control system is determined as the numerical value of the tracking integral item. The method shortens the debugging time of the tracking loop, improves the debugging precision of the tracking loop, reduces the debugging workload, and is of great significance to batch production of the servo stabilized platform.

Description

technical field [0001] The invention belongs to the field of servo system control, in particular to a control parameter debugging method and device in a non-step tracking state of a servo control system. Background technique [0002] The servo system is an automatic control system that enables the output controlled quantities such as the position, orientation, and state of an object to follow any change in the input target (or given value). Its main task is to amplify, transform and regulate the power according to the requirements of the control command, so that the torque, speed and position output by the drive device can be controlled very flexibly and conveniently. In many cases, the servo system refers to the controlled quantity ( The output of the system) is a feedback control system of mechanical displacement or displacement speed and acceleration, and its function is to make the output mechanical displacement (or rotation angle) accurately track the input displacement...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/414
CPCG05B19/4142G05B2219/34013Y02P90/02
Inventor 周腊梅崔雪兵耿亚光
Owner HEBEI HANGUANG HEAVY IND
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