CN105372987A - Position servo closed-loop control system and application method thereof - Google Patents
Position servo closed-loop control system and application method thereof Download PDFInfo
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- CN105372987A CN105372987A CN201410432560.4A CN201410432560A CN105372987A CN 105372987 A CN105372987 A CN 105372987A CN 201410432560 A CN201410432560 A CN 201410432560A CN 105372987 A CN105372987 A CN 105372987A
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Abstract
The invention discloses a position servo closed-loop control system and the application method thereof. The system comprises an actual mechanical system, a speed observer, a PI adjustment module, a D adjustment module, a speed observation and compensation module and a virtual mechanical system module. The application method of the position servo closed-loop control system is as follows: firstly, a torque command is converted into the position feedback signal of the virtual mechanical system module and the speed signal of the virtual mechanical system module; secondly, the speed signal of the virtual mechanical system module and the torque command are adjusted by the torque command and then are outputted; thirdly, the speed deviation is converted into a speed compensation signal; fourthly, the speed compensation signal and the above torque command are inputted into the virtual mechanical system module to obtain the speed signal of the D adjustment module; fifthly, an estimation speed signal is obtained after the signal processing process. In this way, the closed-loop operation is completed once. According to the invention, the high-frequency noise of a speed feedback signal can be eliminated, while the phase lags in the system can be compensated at the same time. On the premise that no high-frequency vibration is generated, the dynamic response performance of a servo system is additionally realized.
Description
Technical field
The invention belongs to technical field of automation, particularly a kind of position servo closed-loop control system and using method thereof.
Background technology
Servo-drive system is also known as servomechanism, and traditional servo-drive system can use PID (ratio, integration, differential) control algolithm usually, utilizes error signal to produce and controls accordingly to export, form closed-loop control.As shown in Figure 1, be the structured flowchart of a traditional PID position servo closed-loop control system.In figure, 1 is subtracter, and 2 is pi regulator, and 3 is filtering delay-time unit, and 4 for comprising the mechanical system of motor, and 5 is integrator, and 6 is differential regulator gain, and 7 is differentiator, θ
fbfor position feed back signal, θ
refposition command signal.In this control system, rate signal passes through D controller action in control system, form negative feedback, for reducing position response overshoot, improve system responses bandwidth, but no matter be that rate signal derives from speed pickup or the differential to position signalling, in signal, all include the noise ripple signal of high frequency.Meanwhile, further time delay is controlled because the existence of filtering delay-time unit 3 causes.The existence of these factors, what the gain of PID regulator can not be increased is enough abundant, to obtain good dynamic response performance.For addressing this problem, some new methods are carried out.
Figure 2 shows that the improvement project of a traditional PI D closed loop location servo-control system, compared to the control system shown in Fig. 1, improvements add a phase advancer 12 after PID regulator, work as T
a>T
btime, compensating action being produced to the delayed phase of control system, by increasing PID controller gain, system responses bandwidth can be improved, but the program still cannot high frequency noise in release rate signal, and its dither of causing.
In US Patent No. 6252369, speed observer 8 is incorporated in traditional PID position-force control system, its Control system architecture block diagram as shown in Figure 3, wherein 7 is totalizer, 11 is virtual machine system module, and 9 is totalizer, and 10 is compensating unit, their common composition speed observation mould devices 8, V
mOfor the mechanical system speed that speed observer observes, compare actual mechanical system rate signal, this signal eliminates high frequency noise, but the delayed phase existed in system still exists, therefore the gain that PID regulates can not increase too large, and system dynamic response capability improves limited.
Summary of the invention
The object of the present invention is to provide a kind of Positioning Servo System and using method thereof, to solve the problems referred to above existing in prior art.
For achieving the above object, technical scheme of the present invention is as follows:
A kind of position servo closed-loop control system, comprising:
Filtering delay-time unit;
Actual mechanical system, for exporting the true velocity of mechanical system;
Speed observer, comprises virtual machine system module, filtering delay-time unit and speed observation compensating module, for exporting estimated speed and compensating output to the difference between described estimated speed and true velocity;
PI adjustment module, the deviation between feeding back for receiving position instruction and position;
D adjustment module, for receiving the estimated speed that described speed observer exports, being multiplied by gain coefficient by described estimated speed, carrying out Differential negative feedback;
Wherein, described position command is sent by the external world, and described position feedback is sent by described position sensing module;
Described virtual machine system module, for comprising the mathematical model of the actual mechanical system of motor, for receiving described torque command and described compensation exports sum;
Described torque command be in PI adjustment module position command and position feed back between deviation and D adjustment module in export Differential negative feedback add and;
Preferably, described position command and position are provided with subtracter between feeding back.
Preferably, totalizer is provided with between described PI adjustment module and D adjustment module.
Preferably, subtracter is provided with between described speed observation module and velocity measuring module.
Preferably, described actual mechanical system is provided with speed pickup.
A using method for position-force control system as described in the present invention, comprises the steps:
Position command and position feed back signal subtract each other the deviation obtained and are input to pi regulator, add that the output of D regulator forms torque command simultaneously;
After the power amplification of described torque command delay unit after filtering, actual mechanical system is driven to obtain feedback signal and the actual mechanical system true velocity signal of actual mechanical system position;
The true velocity signal of described actual mechanical system and torque command are input to speed observer, are outputed signal, and are multiplied by gain coefficient, form D regulator and export;
Described speed observer exports g, obtains velocity deviation, output to speed observer compensating module with actual mechanical system true velocity signal subtraction;
Described speed observation compensating module exports and adds the torque command signal that PID regulator exports, and be input to the rate signal that virtual machine system module obtains for D regulator, then delay unit obtains rate signal after filtering;
Complete a close loop maneuver since then, through several times close loop maneuver, until observation speed is consistent with estimated speed.
Beneficial effect of the present invention is, novel speed observer structure while release rate feedback signal high frequency noise, can exist delayed phase in bucking-out system, when not producing dither, increases the dynamic response performance of servo-drive system.
Accompanying drawing explanation
Fig. 1 is traditional PI D Positioning Servo System block diagram;
Fig. 2 is a kind of traditional PI D position closed loop servo-control system improvement project theory diagram;
Fig. 3 is another kind of traditional PI D position closed loop servo-control system improvement project theory diagram;
Fig. 4 is the principle composition frame chart of a kind of Positioning Servo System provided by the present invention;
Fig. 5 is the equivalent block diagram of the block diagram of Fig. 4 principle composition;
In figure, 1, subtracter; 2, pi regulator; 3, filtering delay-time unit; 4, actual mechanical system; 5, integrator; 6, differential regulator; 7, differentiator; 8, speed observer; 9, totalizer; 10, speed observation compensating module; 11, virtual machine system module; 12, phase lead compensation module.
Embodiment
Below in conjunction with embodiment, the invention will be further described, but protection scope of the present invention is not only confined to embodiment.
A kind of position servo closed-loop control system, comprising:
Filtering delay-time unit;
Actual mechanical system, for exporting the true velocity of mechanical system;
Speed observer, comprises virtual machine system module, filtering delay-time unit and speed observation compensating module, for exporting estimated speed and compensating output to the difference between described estimated speed and true velocity;
PI adjustment module, the deviation between feeding back for receiving position instruction and position;
D adjustment module, for receiving the estimated speed that described speed observer exports, being multiplied by gain coefficient by described estimated speed, carrying out Differential negative feedback;
Wherein, described position command is sent by the external world, and described position feedback is sent by described position sensing module;
Described virtual machine system module, for comprising the mathematical model of the actual mechanical system of motor, for receiving described torque command and described compensation exports sum;
Described torque command be in PI adjustment module position command and position feed back between deviation and D adjustment module in export Differential negative feedback add and;
Preferably, described position command and position are provided with subtracter between feeding back.
Preferably, totalizer is provided with between described PI adjustment module and D adjustment module.
Preferably, subtracter is provided with between described speed observation module and velocity measuring module.
Preferably, described actual mechanical system is provided with speed pickup.
A using method for position-force control system as described in the present invention, comprises the steps:
Position command and position feed back signal subtract each other the deviation obtained and are input to pi regulator, add that the output of D regulator forms torque command simultaneously;
After the power amplification of described torque command delay unit after filtering, actual mechanical system is driven to obtain feedback signal and the actual mechanical system true velocity signal of actual mechanical system position;
The true velocity signal of described actual mechanical system and torque command are input to speed observer, are outputed signal, and are multiplied by gain coefficient, form D regulator and export;
Described speed observer exports g, obtains velocity deviation, output to speed observer compensating module with actual mechanical system true velocity signal subtraction;
Described speed observation compensating module exports and adds the torque command signal that PID regulator exports, and be input to the rate signal that virtual machine system module obtains for D regulator, then delay unit obtains rate signal after filtering;
Complete a close loop maneuver since then, through several times close loop maneuver, until observation speed is consistent with estimated speed.
The present invention is based on following principle, a filtering delay-time unit 3 is present in controller inside, or in mechanical system; A PID closed-loop control system for trace location instruction comprises one is observed compensating module 10 and filtering delay-time unit 3 speed observer 8 with speed simultaneously; By the true velocity V to actual mechanical system
mwith the estimated speed V that speed observer exports
mOdeviation V
m-V
mO, the torque command exported with PID regulator after compensator compensates is added, then through virtual machine system module 11, and filtering delay-time unit 3, the rate signal V that speed observer is estimated
mOwith actual mechanical system actual speed signal V
munanimously, meanwhile, the output of virtual machine system module 11 can be used as the Derivative Feedback signal of PID regulator.
The theory diagram of position servo closed-loop control system of the present invention as shown in Figure 4, position command signal θ
refwith position feed back signal θ
fbin the deviation input PI adjustment module 2 obtained after subtracter 1 subtracts each other, after the process of PI adjustment module 2, form first time torque command T
ro, and by this torque command T
roone tunnel after filtering delay unit 3 filtering delay-time amplify after output torque T
eto actual mechanical system 4, another road directly flows to virtual machine system module 11, and actual mechanical system 4 operates under the driving of moment Te, obtains rate signal, then obtains position feed back signal θ after integrator 5 processes
fband detect acquisition by the position transducer be arranged in actual mechanical system, feedback position command signal sends an output, and meanwhile, virtual machine system module 11 is by using the mathematical model of actual mechanical system, comprise the parameter consistent with actual mechanical system, as mechanical system inertia J, ratio of damping D, simulation actual mechanical system is in the state of moment loading, estimation draws the speed of actual mechanical system, this estimated speed V
mOwith the true velocity V of actual mechanical system 4 after the filter and amplification of filtering delay-time unit 3
mbe input in subtracter 1 together, after the process of subtracter 1, by velocity deviation V
m-V
mOexport to speed observation compensating module 10, described speed observation compensating module 10 is according to described velocity deviation V
m-V
mOsend to compensate and export, described compensation exports and refers to T with moment
romake after totalizer 9 processes, again export to virtual machine system module 11, the speed of virtual machine system module to actual mechanical system is estimated again, if estimated speed is consistent with true velocity, then directly after differential regulator 6 gain, input to totalizer 9, if estimated speed also has deviation with true velocity, this velocity deviation is calculated with true velocity through subtracter 1 after then continuing through the filtering of filtering delay-time unit 3, compensation again through speed observation compensating module 10 exports, the estimated speed of virtual machine system module 11 is corrected, by so repeatedly estimating, feedback, until estimated speed is consistent with actual observation speed.
The above-mentioned method of work comprising the position-force control system of speed observer, comprising:
The output T of PID regulator
robe added with the output of speed observer compensating unit, output to the virtual machine system module comprising motor, the output of virtual machine system module, the speed namely estimated, as differentiation element, is multiplied by differential gain k
dafter, with position command signal θ
refwith position feed back signal θ
fbdeviation, by being added after P and I regulator, obtain the output T of PID regulator
ro, more after filtering after time delay process 3, be input to the mechanical system comprising motor.The output T of PID regulator simultaneously
ro, export with speed observer compensating unit and be added, obtain signal V through mechanical system pattern and filtering delay-time unit
mO.Meanwhile, velocity deviation V
m-V
mOfor the input of speed observer compensating unit.
If the closed loop that speed observer is formed is stable, position-force control system principle composition frame chart shown in Fig. 4 then can be equivalent to the system chart shown in Fig. 5, its stability as closed-loop feedback control system is consistent with the control system without any time delay, the benefit brought like this is, even if increase the gain of PID regulator greatly, system dynamic response bandwidth is significantly improved, and position-force control system proposed by the invention still can keep stable.The transport function of the block diagram of equivalent system shown in Fig. 5 can be expressed as:
Can draw from this open-loop transfer function (1), by regulating k
p, k
i, k
ddeng PID regulating parameter, position feedback θ can be realized
fbto position command signal θ
refaccurate fast track.In addition, there is a filtering delay-time link in speed observer closed loop too, it enters output characteristics with compensating unit C
os () be relation not.As can be seen here, even if the compensating unit gain that design is very little, the stability of speed observer also can be guaranteed.
Compared to the rate signal that sensor detects, the rate signal that speed observer obtains is owing to eliminating high frequency noise content, compensate for control system time delay simultaneously, when enlarging markedly PID regulator parameter, when improving system-gain, also system can not be made to produce the higher-order of oscillation, but greatly can improve the responsive bandwidth of system, position be fed back and obtains trace location command signal quickly and accurately.
Last it is noted that above embodiment only in order to illustrate the present invention and and unrestricted technical scheme described in the invention; Therefore, although this instructions with reference to each above-mentioned embodiment to present invention has been detailed description, those of ordinary skill in the art should be appreciated that and still can modify to the present invention or equivalent to replace; And all do not depart from technical scheme and the improvement thereof of the spirit and scope of the present invention, it all should be encompassed in right of the present invention.
Claims (6)
1. a position servo closed-loop control system, is characterized in that, comprising:
Filtering delay-time unit;
Actual mechanical system, for exporting the true velocity of mechanical system;
Speed observer, comprises virtual machine system module, filtering delay-time unit and speed observation compensating module, for exporting estimated speed and compensating output to the difference between described estimated speed and true velocity,
PI adjustment module, the deviation between feeding back for receiving position instruction and position,
D adjustment module, for receiving the estimated speed that described speed observer exports, being multiplied by gain coefficient by described estimated speed, carrying out Differential negative feedback;
Wherein, described position command is sent by the external world, and described position feedback is sent by described position sensing module;
Described virtual machine system module, for comprising the mathematical model of the actual mechanical system of motor, for receiving described torque command and described compensation exports sum;
Described torque command be in PI adjustment module position command and position feed back between deviation and D adjustment module in export Differential negative feedback add and.
2. position-force control system according to claim 1, is characterized in that, described position command and position are provided with subtracter between feeding back.
3. position-force control system according to claim 1, is characterized in that, is provided with totalizer between described PI adjustment module and D adjustment module.
4. position-force control system according to claim 1, is characterized in that, is provided with subtracter between described speed observation module and velocity measuring module.
5. according to the position-force control system one of Claims 1-4 Suo Shu, it is characterized in that, described actual mechanical system is provided with speed pickup.
6. a using method for position servo closed-loop control system as claimed in claim 1, is characterized in that, comprise the steps:
Position command and position feed back signal subtract each other the deviation obtained and are input to pi regulator, add that the output of D regulator forms torque command simultaneously;
After the power amplification of described torque command delay unit after filtering, actual mechanical system is driven to obtain feedback signal and the actual mechanical system true velocity signal of actual mechanical system position;
The true velocity signal of described actual mechanical system and torque command are input to speed observer, are outputed signal, and are multiplied by gain coefficient, form D regulator and export;
Described speed observer exports g, obtains velocity deviation, output to speed observer compensating module with actual mechanical system true velocity signal subtraction;
Described speed observation compensating module exports and adds the torque command signal that PID regulator exports, and be input to the rate signal that virtual machine system module obtains for D regulator, then delay unit obtains rate signal after filtering;
Complete a close loop maneuver since then, through several times close loop maneuver, until observation speed is consistent with estimated speed.
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Cited By (8)
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| CN107992109A (en) * | 2017-12-06 | 2018-05-04 | 深圳易能电气技术股份有限公司 | Closed-loop positioning control system and method |
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
| CN109581862A (en) * | 2018-11-22 | 2019-04-05 | 广东工业大学 | The driver of embedded disturbance estimation compensation algorithm |
| CN110601624A (en) * | 2019-08-16 | 2019-12-20 | 南京埃斯顿自动化股份有限公司 | Servo control device |
| CN113325710A (en) * | 2021-05-26 | 2021-08-31 | 广东电网有限责任公司 | Automatic tracking system and method for high-frequency noise amplitude gain |
| CN114185370A (en) * | 2020-08-24 | 2022-03-15 | 广东博智林机器人有限公司 | Servo system and rotating speed compensation method thereof |
| CN114460838A (en) * | 2021-12-31 | 2022-05-10 | 上海新时达机器人有限公司 | Mechanical tail end jitter suppression method, position ring and driving device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107992109A (en) * | 2017-12-06 | 2018-05-04 | 深圳易能电气技术股份有限公司 | Closed-loop positioning control system and method |
| CN107992109B (en) * | 2017-12-06 | 2021-03-09 | 深圳易能电气技术股份有限公司 | Full closed-loop positioning control system and method |
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
| CN109371557B (en) * | 2018-11-21 | 2024-02-20 | 杭州之山智控技术有限公司 | Flat knitting machine lifting plate control system and method thereof |
| CN109581862A (en) * | 2018-11-22 | 2019-04-05 | 广东工业大学 | The driver of embedded disturbance estimation compensation algorithm |
| CN110601624A (en) * | 2019-08-16 | 2019-12-20 | 南京埃斯顿自动化股份有限公司 | Servo control device |
| CN110601624B (en) * | 2019-08-16 | 2020-11-17 | 南京埃斯顿自动化股份有限公司 | Servo control device |
| CN114185370A (en) * | 2020-08-24 | 2022-03-15 | 广东博智林机器人有限公司 | Servo system and rotating speed compensation method thereof |
| CN113325710A (en) * | 2021-05-26 | 2021-08-31 | 广东电网有限责任公司 | Automatic tracking system and method for high-frequency noise amplitude gain |
| CN114460838A (en) * | 2021-12-31 | 2022-05-10 | 上海新时达机器人有限公司 | Mechanical tail end jitter suppression method, position ring and driving device |
| CN114499310A (en) * | 2022-02-14 | 2022-05-13 | 南京理工大学 | Rocker arm servo control method based on Kalman filter |
| CN114499310B (en) * | 2022-02-14 | 2023-01-24 | 南京理工大学 | Rocker arm servo control method based on Kalman filter |
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