The invention discloses a cooperative control and disturbance suppression method for a multi-axis
servo system, and relates to the technical field of cooperative and disturbance control of
servo systems, position and speed signals of each
servo axis are acquired in real time, a cooperative error vector is calculated based on a
graph theory model, the vector reflects the deviation between the state of each axis and an expected cooperative trajectory, and the cooperative control and disturbance suppression of the multi-axis servo
system are realized. And synchronous movement is ensured. The collaborative error is used for generating a preliminary
control signal, and a proportional, differential and integral term
combination strategy is adopted to quickly correct the error and eliminate the steady-state error. Meanwhile, disturbance vectors are estimated through an observer, and external interference or internal changes are compensated. And after the preliminary
control signal and the disturbance compensation are added, amplitude limiting
processing is carried out to prevent saturation of the driver. The
control parameters are adjusted through an off-line optimization
algorithm to minimize errors and disturbance influences, so that the tracking precision, the anti-interference capability and the adaptability of the multi-axis servo
system are improved, and the method is suitable for the fields of high-precision manufacturing,
robot control and the like.