The invention relates to the technical field of
servo control, in particular to a
servo control method and
system based on instruction differential feedforward. Comprising the steps that a feed-forward
control channel and a feed-forward control model based on instruction differentiation are constructed, and the feed-forward
control channel is used for connecting a reference instruction input end and a
control signal generation point; obtaining a target instruction
signal of the input end through the feed-forward
control channel, and generating a feed-forward control quantity according to the target instruction
signal, a differential
signal of the target instruction signal and a feed-forward control model; obtaining feed-forward
monitoring data according to a preset correction time node, and judging whether a correction instruction of a feed-forward control model is generated or not according to the feed-forward
monitoring data; a
parallel channel is established in a
servo control system, superposition output of a
PID controller and a feed-forward control model is realized,
delay and
distortion of an output instruction of the
servo control system are reduced, a plurality of working frequency bands and disturbance working conditions are established, feed-forward
gain parameters are dynamically adjusted, and
phase compensation and amplitude attenuation compensation efficiency of the feed-forward control model is improved.