Servo motor control method and system based on fractional iterative learning

An iterative learning, servo motor technology, applied in control systems, vector control systems, motor generator control and other directions, can solve the problems of following error fluctuations, low real-time performance, and insufficient reliability, and achieve high real-time performance and high reliability. , easy to achieve effect

CN108736785AActive Publication Date: 2018-11-02GUANGZHOU HKUST FOK YING TUNG RES INST
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-11-02

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Abstract

The invention discloses a servo motor control method and system based on fractional iterative learning. The method comprises the following steps: using a fractional iterative learning to track a set motor operation speed value to obtain a speed controlled quantity; carrying out coordinate transformation on the speed controlled quantity through a matrix transform method so as to obtain the three-phase current control value of a motor; detecting three-phase current for motor operation; obtaining the weak current signal of motor three-phase voltage according to the three-phase current control value of the motor and the three-phase current for motor operation; and carrying out amplification processing on the weak current signal of motor three-phase voltage to obtain the strong current signal of motor three-phase voltage so as to control a servo motor. The system comprises a speed control module, a vector transformation module, a current detection module, a current control module and an inverter module. The system is high in instantaneity, the motor can keep stable operation speed under the condition of disturbance, the reliability is high, and the system can be widely applied to technical field of servo motor control.
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Description

technical field

[0001] The invention relates to the technical field of servo motor control, in particular to a servo motor control method and system based on fractional iterative learning. Background technique

[0002] In the actual industry, there are many systems with repetitive motion processes, such as CNC machining, robot welding, and injection molding machine molding in manufacturing. These production equipment all have a typical feature: In mass production, the same movement is always repeated, with a repetitive production process. Existing processing equipment only considers the product quality of the current processing batch, but does not consider the consistency and repeatability of large batches of products. The factors that affect product consistency include: changes in the surrounding environment (such as temperature, humidity, etc.), wear and tear of mechanical components, and interference from other uncertain factors. The control technology adopted by the ex...

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Embodiment Construction

[0054]The present invention will be further explained and described below in conjunction with the accompanying drawings and specific embodiments of the description. For the step numbers in the embodiment of the present invention, it is only set for the convenience of explanation and description, and there is no limitation on the order of the steps. The execution order of each step in the embodiment can be carried out according to the understanding of those skilled in the art Adaptive adjustment.

[0055] refer to figure 1 , the present invention is based on the servomotor control method of fractional order iterative learning, comprises the following steps:

[0056] The fractional order iterative learning algorithm is used to track the set motor running speed value to obtain the speed control amount;

[0057] The coordinate transformation of the speed control quantity is carried out by the matrix transformation method, and the three-phase current control value of the motor is...