CN108931918A - A kind of control method of servo motor and device - Google Patents
A kind of control method of servo motor and device Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The present invention provides a kind of control method of servo motor and device, which includes: to obtain the historical data of servo motor running speed；Off-line identification is carried out to historical data using particle swarm algorithm, constructs the object model of servo drive system；According to the flat controller of object model discrete time diffusion, the Feedback Control Laws of differential flat are obtained；Using the control parameter of chaos dynamic fireworks algorithm optimization Feedback Control Laws, the Feedback Control Laws optimized；The running speed of servo motor is controlled according to the Feedback Control Laws of optimization.By implementing the present invention, realize the revolving speed control of servo motor, it is easy to operate, whole system is set to be quickly returning to stable state when by strong external disturbance, reduce regulating time, and the robustness and stability for improving whole system are of great significance to actual industrial production to improve the control performance of whole system.
Description
Technical field
The present invention relates to field of industrial automation control, and in particular to a kind of control method of servo motor and device.
Background technique
Auto Disturbances Rejection Control Technique (Active Disturbance Rejection Control, abbreviation ADRC) had both inherited
The advantages of traditional PID control, and modern control theory has been merged, by the development and inspection of recent two decades, in practical projects
It is widely applied.
High-end product of the servo drive system as drive technology in motion control field, powerful small in size and control
Effect is prominent, is widely used in industrial production.In practical application in industry, the simple easy behaviour that has due to PID controller
The characteristics such as make so that most of Serve Motor Control all uses pid control algorithm, however, when system parameter occur time-varying or
System by outside compared with large disturbances in the case where, traditional pid control algorithm, which does not have, inhibits external strongly disturbing ability, so
The control performance of whole system can be reduced, other most number controllers there is also similar defect, thus, how to improve entire
The robustness and stability of system enable system to be quickly returning to stable state when by strong external disturbance, when reducing adjusting
Between have great importance to industrial production.
Summary of the invention
The technical problem to be solved in the present invention is that overcoming control method of servo motor in the prior art, does not have and inhibit
External strongly disturbing ability, when system is when by strong external disturbance, the robustness and stability of system can be reduced, Jin Erying
The problems such as ringing the control performance of whole system.
According in a first aspect, the embodiment of the invention provides a kind of control method of servo motor, comprising: obtain servo motor
The historical data of running speed；Off-line identification is carried out to the historical data using particle swarm algorithm, constructs the servo-drive
The object model of system；According to the flat controller of object model discrete time diffusion, the feedback of differential flat is obtained
Control law；Using the control parameter of Feedback Control Laws described in chaos dynamic fireworks algorithm optimization, the Feedback Control Laws optimized；
The running speed of the servo motor is controlled according to the Feedback Control Laws of the optimization.
With reference to first aspect, described according to the object model discrete in the first embodiment of first aspect
The flat controller of time diffusion, obtains the Feedback Control Laws of differential flat, comprising: establishes system mould according to the object model
Type；Discrete time extended state observer model is constructed according to the system model；It is seen according to the discrete time expansion state
Device model is surveyed, the Feedback Control Laws are obtained.
With reference to first aspect, described discrete according to system model construction in the second embodiment of first aspect
Time dilation state observer model, comprising: continuous time state-space model is obtained according to the system model；Using Euler
The continuous time state-space model is carried out discretization by method, obtains discrete-time state-space model；According to described discrete
Time state spatial model designs to obtain discrete time extended state observer model.
With reference to first aspect, in the third embodiment of first aspect, the object model is second-order inertia link, institute
State second-order inertia link:
Wherein, G (s) indicates transmission function, and K indicates proportionality coefficient, T1And T2Indicate time constant.
With reference to first aspect, described that system is established according to the object model in the 4th embodiment of first aspect
Model, comprising: primal system model, the primal system model are obtained according to the second-order inertia link are as follows:
Wherein,WithIndicate that controlled variable, u (t) indicate control amount input, a1、a0And b indicates procedure parameter, η
(t) unknown external disturbance is indicated；
The procedure parameter is described using nominal value, obtains the system model, the system model are as follows:
Wherein,Expression process ginseng
Number, f (t) indicate total disturbance.
With reference to first aspect, described to use Euler method by the continuous time in the 5th embodiment of first aspect
State-space model carries out discretization, obtains discrete-time state-space model, the discrete-time state-space model are as follows:
Wherein:
H=[1 0 0]
T indicates the sampling time, and x (k), x (k+1) indicate discrete input variable, and y (k) indicates discrete output variable.
With reference to first aspect, described according to the discrete-time state-space in the sixth embodiment of first aspect
Modelling obtains discrete time extended state observer model, the discrete time extended state observer model are as follows:
Wherein,Indicate the current estimated value of x (k),Indicate the predictive estimation value of x (k), Lc=[l1 l2 l3]T
Indicate gain matrix.
With reference to first aspect, described according to the discrete time expansion state in the 7th embodiment of first aspect
Observer model obtains the Feedback Control Laws, the Feedback Control Laws are as follows:
Wherein, y*(k) desired output variable is indicated, y (k) indicates actual output variable, γ0And γ1Indicate described anti-
Present the gain of control law.
According to second aspect, the embodiment of the invention provides a kind of servo motor control devices, comprising: historical data obtains
Module, for obtaining the historical data of servo motor running speed in servo drive system；Object model constructs module, for adopting
Off-line identification is carried out to the historical data with particle swarm algorithm, constructs the object model of the servo drive system；Feedback control
System rule building module, for obtaining the anti-of differential flat according to the flat controller of object model discrete time diffusion
Present control law；Feedback Control Laws optimization module, for the control using Feedback Control Laws described in chaos dynamic fireworks algorithm optimization
Parameter, the Feedback Control Laws optimized；Servo motor rotational speed control module, for the Feedback Control Laws control according to the optimization
Make the running speed of the servo motor.
It is described non-temporary the embodiment of the invention provides a kind of non-transient computer readable storage medium according to the third aspect
State computer-readable recording medium storage computer instruction, the computer instruction is for making the computer execute first aspect
Or control method of servo motor described in any one optional way of first aspect.
According to fourth aspect, the embodiment of the invention provides a kind of computer program product, the computer program product
Including the calculation procedure being stored in non-transient computer readable storage medium, the computer program includes program instruction, when
When described program instruction is computer-executed, keep any one of the computer execution first aspect or first aspect optional
Control method of servo motor described in mode.
Technical solution of the present invention has the advantages that
Control method of servo motor provided in an embodiment of the present invention, by obtaining servo motor running speed historical data,
The object model of off-line identification building servo drive system is carried out using particle swarm optimization algorithm, to obtain accurate model letter
Breath, then to the flat controller of object model discrete time diffusion, obtains the Feedback Control Laws of differential flat, and use
The control parameter of the chaos fireworks algorithm optimization Feedback Control Laws is optimized so as to shorten controller parameter regulating time
Feedback Control Laws, and the control signal of this control law is transmitted in the driver of servo motor, realize turning for servo motor
Speed control, it is easy to operate, so that whole system is quickly returning to stable state when by strong external disturbance, when reducing adjusting
Between, and the robustness and stability of whole system are improved, to improve the control performance of whole system, have to actual industrial production
It is significant.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the practical application schematic diagram of control method of servo motor in the embodiment of the present invention；
Fig. 2 is the flow chart of control method of servo motor in the embodiment of the present invention；
Fig. 3 is that the relationship of the estimated value of input variable and input variable value becomes in servo electrical machinery system in the embodiment of the present invention
Change curve graph；
Fig. 4 is that the control amount of system in the embodiment of the present invention inputs change curve；
Fig. 5 is the relationship change curve of the desired output variable of system and system reality output variable in the embodiment of the present invention
Figure；
Fig. 6 be the embodiment of the present invention in PID control effectiveness results comparison diagram；
Fig. 7 is the control effect curve synoptic diagram of servo electrical machinery system after disturbance is added in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of servo motor control device in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of electronic equipment in the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Embodiment 1
The embodiment of the present invention provides a kind of control method of servo motor, can be applied in servo drive system, servo
High-end product of the drive system as drive technology in motion control field, powerful small in size and control effect is prominent, quilt
It is widely used in industrial production.But due to the limitation of most digital control method, do not have the energy for inhibiting strong external disturbance
Power.Servo drive system in the embodiment of the present invention is as shown in Figure 1, comprising: servo controller, servo motor and by servo electricity
Whole system including the clover fan that machine is driven.
As shown in Fig. 2, method includes the following steps:
Step S1: the historical data of servo motor running speed is obtained.
In embodiments of the present invention, above-mentioned control method of servo motor is realized using PLC device, as shown in Figure 1, will
As controlled device, PLC device is issued by the received speed setting value conduct pair of servo controller institute entire servo drive system
The input of elephant, the actual speed analog quantity that servo controller feeds back PLC is the output of object.Open loop is then based on to test
The historical data of the servo motor running speed arrived.
Step S2: off-line identification is carried out to historical data using particle swarm algorithm, constructs the object mould of servo drive system
Type.
Specifically, in practical applications, it can be gone through using based on particle swarm algorithm to above-mentioned in MATLAB/Simulink
History data carry out preliminary off-line identification, obtain the object model of servo drive system, the object model be second-order inertia link by
Formula (1) indicates:
Wherein, G (s) indicates transmission function, and K indicates proportionality coefficient, T1And T2Indicate time constant.
Step S3: according to the flat controller of object model discrete time diffusion, the feedback control of differential flat is obtained
Rule.
In a preferred embodiment, the Feedback Control Laws for obtaining differential flat can be in the following ways:
Firstly, establishing system model according to object model.
Specifically, differential flat automatic disturbance rejection controller includes the knot such as extended state observer, Feedback Control Laws, disturbance compensation
Structure, in practical applications, the part of most critical are extended state observer (Extended State Observer, ESO), ESO
Energy real-time estimation system always disturbs, and total disturbance includes the imprecise computational internal disturbance and external disturbance of control system.In reality
The part that differential flat Application of Auto-Disturbance Rejection most critical is realized in the system of border is construction discrete time ESO.
Based on second order object model second-order inertia link obtained in above-mentioned steps S2, primal system model is obtained by public affairs
Formula (2) indicates:
Wherein,WithIndicate that controlled variable, u (t) indicate control amount input, a1、a0And b indicates procedure parameter, η
(t) unknown external disturbance is indicated；
In view of the nominal value of procedure parameter, procedure parameter is described using nominal value, obtains system model, the system model
It is indicated by formula (3):
Wherein,Expression process ginseng
Number, f (t) indicate total disturbance.
Then, discrete time extended state observer model is constructed according to system model.
In a preferred embodiment, theoretical according to differential flat Active Disturbance Rejection Control, it can be with by above-mentioned formula (3)
Continuous state space model is obtained, which is carried out by discretization using Euler method, when obtaining discrete
Between state-space model, the discrete-time state-space model by formula (4) indicate:
Wherein:
H=[1 0 0]
T indicates the sampling time, and x (k), x (k+1) indicate discrete input variable, and y (k) indicates discrete output variable.
It can be designed that discrete time extended state observer model according to above-mentioned formula (4), indicated by formula (5):
Wherein,Indicate the current estimated value of x (k),Indicate the predictive estimation value of x (k), Lc=[l1 l2 l3]T
Indicate gain matrix.In practical applications, in order to determine gain matrix Lc=[l1 l2 l3]TIn parameter, by discrete features side
The pole of journey is respectively configured as two positive numbersβ2=e-pT, wherein ω0, p be control parameter, the discrete features equation
It is indicated by formula (6):
λ (z)=| zI- (Φ-Φ LcH) |=(z- β1)2(z-β2). (6)
Wherein, λ (z) indicates that discrete features equation, I indicate that unit matrix, z indicate discrete features non trivial solution.
Finally according to discrete time extended state observer model, Feedback Control Laws are obtained.
In a preferred embodiment, discrete time extended state observer represented by above-mentioned formula (5) can be passed through
Model obtains Feedback Control Laws, which is indicated by formula (7):
Wherein, y*(k) desired output variable is indicated, y (k) indicates actual output variable, γ0And γ1Indicate feedback control
Make the gain of rule.In practical applications, γ0And γ1It can be obtained by way of configuring closed loop transform function pole, the closed loop is special
Levy equation is indicated by formula (8):
λ (s)=s2+γ1s+γ0=s2+2ξcωcs+ωc (8)
Wherein, λ (s) indicates that closed loop transform function, s indicate the solution of closed loop transform function, ωcFor control parameter.
Step S4: using the control parameter of chaos dynamic fireworks algorithm optimization Feedback Control Laws, the feedback control optimized
System rule.
By above-mentioned formula (1) to formula (8) it is found that the parameter for adjusting optimization is needed to have ω0、ωcAnd p, of the invention real
Apply in example, by using the time multiplied by Error Absolute Value integral (ITAE) as performance indicator, using chaos dynamic fireworks algorithm come
Optimize these three parameters, the Feedback Control Laws optimized.
Step S5: the running speed of servo motor is controlled according to the Feedback Control Laws of optimization.
In practical applications, by controller constructed by the Feedback Control Laws by optimization, by control amount signal power transmission
Into servo-driver, the control to servo motor revolving speed is realized.
By executing above-mentioned steps S1 to step S5, control method of servo motor in the embodiment of the present invention is realized and is watched
The revolving speed control of motor is taken, it is easy to operate, so that whole system is quickly returning to stable state when by strong external disturbance, subtracts
Regulating time is lacked, and has improved the robustness and stability of whole system, so that the control performance of whole system is improved, to reality
Industrial production is of great significance.
Above-mentioned control method of servo motor in practical applications, can be designed realization, such as Fig. 1 by PLC device
Shown, specifically, in embodiments of the present invention, for the PLC configuration software used for STEP7 and WinCC, industry control platform is TIA
V13, wherein STEP7 is programming software, and WinCC (Windows Control Center) is the Engineering configuration software of profession.It is logical
It crosses powerful TIA Portal platform to combine the two, control strategy is realized in programming in STEP7, is further passed through
WinCC realizes process monitoring man-machine interface, the final automatic operating for realizing whole system.
Based on trapezoidal pattern programming language, discrete time extended state observer can be constructed according to above-mentioned formula (5)
Module can construct the flat automatic disturbance rejection controller module of discrete time differentiation according to formula (7).Extended state observer input
For control amount u and actual speed value y, exports and beWithThree pursuit gains.Discrete time extended state observer function
The basis that module is realized is the delay link that a cycle is completed by the storage of bottom variable, to be calculated based on x (k) next
The x (k+1) in period.To guarantee discrete precision, the realization of the flat Application of Auto-Disturbance Rejection functional block of discrete time differentiation is being recycled
It is completed in interruption block, using the thought of storehouse, cycle period is set as 100 milliseconds.
Below in conjunction with specifically simulated example, further details of explanation servo motor control provided in an embodiment of the present invention
Method processed:
Specifically, off-line identification is carried out to historical data using particle swarm algorithm in embodiments of the present invention, constructs servo
Shown in the object model of drive system such as formula (9):
G (s)=0.3737/ (s2+1.2055s+0.3753) (9)
By three parameter ω to be optimized0、ωcIt is set as [0,30] with the parameter area of p, the performance indicator used is the time
Multiplied by error intergal (ITAE), as shown in formula (10):
In embodiments of the present invention, the setting of chaos dynamic fireworks algorithm parameter is as follows: fireworks quantity M=100, variable dimension
D=3, initial explosion radius Er=90, initial explosion quantity En=5, core fireworks amplification factor Ca=1.5, core fireworks are shunk
Factor Cr=0.001, the number of iterations N=10, restriction factor a=0.3, b=0.8 for quantity of exploding, for limiting new generation cigarette
Colored quantity.
In embodiments of the present invention, used servo motor receives the voltage signal of 0~10V, linearly correspond to 0~
5000rpm motor speed value.It is be easy to cause danger since the motor speed with fan is too fast, so revolving speed upper limit value is limited
For 4000rpm, the initial speed of servo motor is set as 1000rpm, it is contemplated that the limitation of real system, control amount signal u quilt
It is limited between -4000rpm to 4000rpm.After carrying out ten iteration, obtain keeping performance indicator ITAE value one group the smallest
Parameter: ωo=3.991580, ωc=7.137115, p=3.837066, performance index value ITAE=553.097851, in order to open up
Show control method of servo motor provided in an embodiment of the present invention to the rejection ability of external disturbance ability, in t=5s, to servo
+ 400 step disturbance is added in electric system.The relationship of the estimated value of input variable and input variable value in servo electrical machinery system
Change curve is as shown in figure 3, the control amount of system inputs change curve as shown in figure 4, the desired output variable of system and system
The relationship change curve of reality output variable is as shown in Figure 5.
Using the controller parameter after above-mentioned optimization, it may be assumed that ωo=3.991580, ωc=7.137115, p=3.837066,
The control effect of actual servo electric system is tested, the control method of servo motor in the embodiment of the present invention is known as
DFADRC, for the control effect Comparative result with PID as shown in fig. 6, the SP in Fig. 6 indicates setting value, PV indicates actual value,
The step disturbance of+400 He -400 is separately added into when t=140T and t=200T, the control effect curve of servo electrical machinery system is as schemed
Shown in 7.
The test result of above-mentioned Fig. 6 and Fig. 7 shows the Serve Motor Control control method that the embodiment of the present invention is proposed,
It is more preferable than the control effect of traditional PID control, and there is good Disturbance Rejection ability.
Embodiment 2
The embodiment of the present invention provides a kind of servo motor control device, as shown in figure 8, the servo motor control device packet
Include: historical data obtains module 1, for obtaining the historical data of servo motor running speed in servo drive system.In in detail
Hold the step S1 in reference implementation example 1.
Object model constructs module 2, and for carrying out off-line identification to historical data using particle swarm algorithm, building servo is driven
The object model of dynamic system.Step S2 in detailed content reference implementation example 1.
Feedback Control Laws construct module 3, for obtaining micro- according to the flat controller of object model discrete time diffusion
Divide flat Feedback Control Laws.Step S3 in detailed content reference implementation example 1.
Feedback Control Laws optimization module 4, for using the control parameter of chaos dynamic fireworks algorithm optimization Feedback Control Laws,
The Feedback Control Laws optimized.Step S4 in detailed content reference implementation example 1.
Servo motor rotational speed control module 5, for controlling the running speed of servo motor according to the Feedback Control Laws of optimization.
Step S5 in detailed content reference implementation example 1.
Embodiment 3
The embodiment of the present invention provides a kind of non-transient computer storage medium, which is stored with computer
The control method of servo motor in above-mentioned any embodiment 1 can be performed in executable instruction, the computer executable instructions.Wherein,
Above-mentioned storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM), random access memory
(Random Access Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, contracting
Write: HDD) or solid state hard disk (Solid-State Drive, SSD) etc.；The storage medium can also include the storage of mentioned kind
The combination of device.
Embodiment 4
The embodiment of the present invention provides a kind of electronic equipment of control method of servo motor, structural schematic diagram as shown in figure 9,
The equipment includes: one or more processors 410 and memory 420, in Fig. 9 by taking a processor 410 as an example.
The electronic equipment for executing control method of servo motor can also include: input unit 430 and output device 440.
Processor 410, memory 420, input unit 430 and output device 440 can pass through bus or other modes
It connects, in Fig. 9 for being connected by bus.
Processor 410 can be central processing unit (Central Processing Unit, CPU).Processor 410 may be used also
Think other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
The combination of the chips such as discrete hardware components or above-mentioned all kinds of chips.General processor can be microprocessor or the processing
Device is also possible to any conventional processor etc..
Memory 420 is used as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, non-
Transient computer executable program and module, as the corresponding program of control method of servo motor in the embodiment of the present application refers to
Order/module, non-transient software program, instruction and the module that processor 410 is stored in memory 420 by operation, thus
The various function application and data processing of execute server realize the control method of servo motor of above method embodiment.
Memory 420 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area can be stored according to the processing unit of Serve Motor Control
Use created data etc..In addition, memory 420 may include high-speed random access memory, it can also include non-transient
Memory, for example, at least a disk memory, flush memory device or other non-transient solid-state memories.In some implementations
In example, optional memory 420 includes the memory remotely located relative to processor 410, these remote memories can pass through
It is connected to the network to servo motor control device.The example of above-mentioned network includes but is not limited to internet, intranet, local
Net, mobile radio communication and combinations thereof.
Input unit 430 can receive the number or character information of input, and generate the place with Serve Motor Control operation
Manage the related user setting of device and the related key signals input of function control.Output device 440 may include that display screen etc. is aobvious
Show equipment.
One or more module is stored in memory 420, when being executed by one or more processor 410, is held
Row method as shown in Figure 1.
Method provided by the embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method and has
Beneficial effect.The not technical detail of detailed description in embodiments of the present invention, for details, reference can be made to the phases in embodiment as shown in Figure 1
Close description.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of control method of servo motor characterized by comprising
Obtain the historical data of servo motor running speed；
Off-line identification is carried out to the historical data using particle swarm algorithm, constructs the object model of the servo drive system；
According to the flat controller of object model discrete time diffusion, the Feedback Control Laws of differential flat are obtained；
Using the control parameter of Feedback Control Laws described in chaos dynamic fireworks algorithm optimization, the Feedback Control Laws optimized；
The running speed of the servo motor is controlled according to the Feedback Control Laws of the optimization.
2. control method of servo motor according to claim 1, which is characterized in that described to be designed according to the object model
The flat controller of discrete time differentiation, obtains the Feedback Control Laws of differential flat, comprising:
System model is established according to the object model；
Discrete time extended state observer model is constructed according to the system model；
According to the discrete time extended state observer model, the Feedback Control Laws are obtained.
3. control method of servo motor according to claim 2, which is characterized in that described to be constructed according to the system model
Discrete time extended state observer model, comprising:
Continuous time state-space model is obtained according to the system model；
The continuous time state-space model is carried out by discretization using Euler method, obtains discrete-time state-space model；
Discrete time extended state observer model is obtained according to the discrete-time state-space modelling.
4. control method of servo motor according to claim 3, which is characterized in that the object model is second-order inertia ring
Section, the second-order inertia link:
Wherein, G (s) indicates transmission function, and K indicates proportionality coefficient, T1And T2Indicate time constant.
5. control method of servo motor according to claim 4, which is characterized in that described to be established according to the object model
System model, comprising:
Primal system model, the primal system model are obtained according to the second-order inertia link are as follows:
Wherein,WithIndicate that controlled variable, u (t) indicate control amount input, a1、a0And b indicates procedure parameter, η (t) table
Show unknown external disturbance；
The procedure parameter is described using nominal value, obtains the system model, the system model are as follows:
Wherein,Indicate procedure parameter, f
(t) total disturbance is indicated.
6. control method of servo motor according to claim 5, which is characterized in that described to use Euler method described continuous
Time state spatial model carries out discretization, obtains discrete-time state-space model, the discrete-time state-space model
Are as follows:
Wherein:
H=[1 0 0]
T indicates the sampling time, and x (k), x (k+1) indicate discrete input variable, and y (k) indicates discrete output variable.
7. control method of servo motor according to claim 6, which is characterized in that described according to the discrete-time state
Spatial model designs to obtain discrete time extended state observer model, the discrete time extended state observer model are as follows:
Wherein,Indicate the current estimated value of x (k),Indicate the predictive estimation value of x (k), Lc=[l1 l2 l3]TIt indicates
Gain matrix.
8. control method of servo motor according to claim 7, which is characterized in that described to be expanded according to the discrete time
State observer model obtains the Feedback Control Laws, the Feedback Control Laws are as follows:
Wherein, y*(k) desired output variable is indicated, y (k) indicates actual output variable, γ0And γ1Indicate the feedback control
Make the gain of rule.
9. a kind of servo motor control device characterized by comprising
Historical data obtains module (1), for obtaining the historical data of servo motor running speed in servo drive system；
Object model constructs module (2), for carrying out off-line identification to the historical data using particle swarm algorithm, described in building
The object model of servo drive system；
Feedback Control Laws construct module (3), for obtaining according to the flat controller of object model discrete time diffusion
The Feedback Control Laws of differential flat；
Feedback Control Laws optimization module (4), for the control ginseng using Feedback Control Laws described in chaos dynamic fireworks algorithm optimization
Number, the Feedback Control Laws optimized；
Servo motor rotational speed control module (5), for controlling the fortune of the servo motor according to the Feedback Control Laws of the optimization
Row revolving speed.
10. a kind of electronic equipment characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein, be stored with can be by described at least one for the memory
The instruction that a processor executes, described instruction is executed by least one described processor, so that at least one described processor is held
Row such as control method of servo motor of any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810644938.5A CN108931918B (en) | 2018-06-21 | 2018-06-21 | Servo motor control method and device |
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