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Asynchronous servo overclocking starting control method

A technology of servo drive and servo motor, which is applied in the field of servo control and can solve problems such as unstable speed and vibration of servo motors

Pending Publication Date: 2022-05-10
江苏亿控智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an asynchronous servo overfrequency start-up control method, through the introduction of position deviation and speed compensation, combined with the existing PID control algorithm and intelligent control algorithm, solves the problems of unstable speed and vibration when the servo motor starts

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Embodiment 1

[0025] see figure 1 As shown, the present invention is an asynchronous servo overfrequency start-up control method, including the following steps: S01, acquiring and processing the input swing angle command and position feedback signal of the electric servo system, and the position control component performs position closed-loop control calculation on the electric servo system to improve The steady-state accuracy of the position closed loop, due to the existence of gaps, this link cannot directly improve the steady-state accuracy of the final output; S02, perform current closed-loop control calculations based on the position loop control output signal and the electric servo mechanism current signal, and send the calculation results to the load , the control period of the position loop and the current loop should be greater than the cumulative time of all calculations in the position loop and the current loop to ensure the integrity of the position loop and the current loop; whe...

Embodiment 2

[0031] On the basis of the first embodiment above, preferably, as figure 1 As shown, the step of inputting the swing angle instruction and the position feedback signal in step S01 includes: issuing a position signal instruction to control the position of the servo driver through a real-time bus, a speed signal instruction to control the rotation speed of the servo driver, and a rotation speed signal to control the torque of the servo driver. Torque signal command to the servo driver.

[0032] preferred, such as figure 1As shown, the step S01 also includes the step of pre-estimation control: the servo driver estimates the first electrical angle when the servo motor starts, and estimates the electrical angle required for the servo motor to start according to the rotation speed command received by the servo driver; judges the estimated Whether the position reaches the position required by the position signal instruction, the motor will stop running if it reaches the position, ot...

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Abstract

The invention discloses an asynchronous servo overclocking start control method, and relates to the technical field of servo control. The method comprises the following steps that S01, an input swing angle instruction and a position feedback signal of the electric servo system are obtained and processed, and a position control component conducts position closed-loop control calculation on the electric servo system; s02, current closed-loop control calculation is carried out according to the position loop control output signal and the current signal of the electric servo mechanism, and a calculation result is sent to a load; wherein the step S01 comprises the steps of establishing a simulation model of the asynchronous servo driver according to a hardware circuit of the asynchronous servo driver; a current controller is added in a current loop, and the current controller is an intelligent controller based on a mode recognition multi-mode intelligent control method. By introducing position deviation and speed compensation and combining with an existing PID control algorithm and an intelligent control algorithm, the problems of unstable speed, vibration and the like when the servo motor is started are solved.

Description

technical field [0001] The invention belongs to the technical field of servo control, in particular to an asynchronous servo overfrequency start control method. Background technique [0002] Servo motor refers to the engine that controls the operation of mechanical equipment in the servo system, and is an auxiliary motor indirect speed change device. The servo motor can control the speed and position accuracy very accurately, and can convert the voltage signal into torque and speed to drive the controlled object. The rotor speed of the servo motor is controlled by the input signal and can respond quickly. In the automatic control system, it is used as an actuator, and has the characteristics of small electromechanical time constant, high linearity, and starting voltage. It can convert the received electrical signal Converted to angular displacement or angular velocity output on the motor shaft. [0003] At present, the speed regulation function of servo motor is mainly rea...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 李蜜
Owner 江苏亿控智能装备有限公司