A disturbance compensation control method for a servo drive

CN121813971BActive Publication Date: 2026-05-29CHENGDU AEROSPACE KAITE ELECTROMECHANICAL TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
CHENGDU AEROSPACE KAITE ELECTROMECHANICAL TECH CO LTD
Filing Date
2026-03-12
Publication Date
2026-05-29

AI Technical Summary

Technical Problem

Existing servo drive control methods struggle to balance high-frequency noise suppression and rapid response when faced with complex operating conditions and sudden load changes. Furthermore, the lack of dynamic physical damping makes servo motors prone to high-frequency chatter and transient large oscillations.

Method used

A port-controlled Hamiltonian dynamics model is adopted in combination with a fractional-order superspiral expansion state observer. By adaptively adjusting the Hamiltonian energy dissipation residual, a nonlinear dynamic damping matrix is ​​constructed to perform energy shaping on the servo motor and generate a composite control law to control the servo motor.

Benefits of technology

It improves the servo drive system's ability to resist external load changes and high-frequency unmodeled dynamics, ensures the stability of system energy dissipation, suppresses high-frequency chatter, shortens the adjustment time, and improves the steady-state accuracy and dynamic anti-disturbance performance of disturbance compensation.

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Abstract

The present application relates to the technical field of motor control, and discloses a disturbance compensation control method of a servo driver, comprising: collecting the running state of a servo motor to construct a port-controlled Hamiltonian dynamics model, and extracting an interconnection matrix and a dissipation matrix; constructing a fractional order hyper-spiral extended state observer to obtain an initial lumped disturbance estimation value; extracting a Hamiltonian energy dissipation residual to adaptively adjust the fractional order hyper-spiral extended state observer, and outputting a high-fidelity disturbance estimation value; constructing a nonlinear dynamic damping matrix based on the high-fidelity disturbance estimation value to perform energy shaping on the servo motor; combining the nonlinear dynamic damping matrix with the port-controlled Hamiltonian dynamics model to establish a matching equation, solving a compound control law to generate a driving signal to control the servo motor. The present application uses energy residual dynamic adjustment observer and reconstructs damping topology to suppress high-frequency chattering and transient oscillation, and improves the anti-disturbance ability of the system.
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