PID position pointing smoothing optimization method for servo motor based on acceleration feedback

Abstract

The application discloses a servo motor PID position pointing smooth optimization method based on acceleration feedback and belongs to the technical field of motor control. The method comprises the following steps: obtaining PID parameters, a motor target position and a preset time to reach the position; confirming an acceleration section, a deceleration section and an adjustment section in a stroke according to a starting point and the target position; executing three-loop PID control of the acceleration section, and adjusting a position loop command value according to acceleration feedback; executing three-loop PID control of the deceleration section, and adjusting the position loop command value according to acceleration feedback; executing PID control of the adjustment section, and keeping the position loop command value as a terminal position; the method can dynamically adjust the position loop command value during the execution of each position loop according to real-time acceleration measurement, thereby ensuring that the movement speed of the motor from the starting position to the terminal position is a smooth acceleration-deceleration movement curve, the position and speed overshoot and the position fluctuation after reaching the position can be effectively reduced when approaching the target position at a low speed, and the pointing accuracy of the servo motor is significantly improved.

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