CN113189868B - Method for accurately compensating dynamic error of servo system - Google Patents
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Abstract
The invention discloses a method for accurately compensating dynamic errors of a servo system, which comprises the following steps: selecting slope signals with different amplitudes as input signals of a servo control system, and accurately identifying the input signals and error signals by a least square method to obtain a first-order dynamic error coefficient; based on the first-order dynamic error coefficient, selecting parabolic signals with different amplitudes as input signals of a servo control system, and accurately identifying the input signals and error signals through a least square method to obtain a second-order dynamic error coefficient; based on the first-order and second-order dynamic error coefficients, selecting sinusoidal signals with different amplitudes as input signals of a servo control system, and obtaining a third-order dynamic error coefficient by approximate identification; and designing an instruction compensation method according to the first-order, second-order and third-order dynamic error coefficients. The method can more accurately identify the dynamic error coefficient of the servo control system, calculate the principle error of the system and compensate in the command, thereby obviously improving the tracking accuracy of the servo system.
Description
Technical Field
The invention relates to the technical field of servo control systems, in particular to an accurate compensation method for dynamic errors of a servo system.
Background
In defense and military industries, such as artillery control, ship and airplane piloting; high precision platforms, such as automatic machine tools; in the industries of aircraft simulation, high-precision sensor calibration and the like, servo control systems are widely applied. At present, the control accuracy of a servo control system mainly depends on the accuracy of a measuring element and the optimization of a control method, but no matter which control method is used, a principle error caused by an input command per se is difficult to eliminate.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art.
Therefore, the invention aims to provide a method for accurately compensating the dynamic error of the servo system.
In order to achieve the above object, an embodiment of the present invention provides a method for accurately compensating a dynamic error of a servo system, including the following steps: step S1, selecting ramp signals with different amplitudes as a first input signal of a servo control system, and accurately identifying the first input signal and a first error signal by a least square method to obtain a first-order dynamic error coefficient; step S2, based on the first-order dynamic error coefficient, selecting parabolic signals with different amplitudes as second input signals of a servo control system, and accurately identifying the second input signals and the second error signals through a least square method to obtain a second-order dynamic error coefficient; step S3, based on the first order dynamic error coefficient and the second order dynamic error coefficient, selecting sinusoidal signals with different amplitudes as a third input signal of a servo control system, and approximately identifying the third input signal and the third error signal to obtain a third order dynamic error coefficient; and step S4, designing an instruction compensation method according to the first-order dynamic error coefficient, the second-order dynamic error coefficient and the third-order dynamic error coefficient.
The method for accurately compensating the dynamic error of the servo system comprises the steps of firstly selecting ramp signals with different amplitudes as input signals of the system to accurately calculate a first-order dynamic error coefficient, then selecting parabolic signals with different amplitudes as input signals of the system to accurately calculate a second-order dynamic error coefficient, then selecting sinusoidal signals with different amplitudes as input signals of the system to approximately calculate a third-order dynamic error coefficient, and finally designing a command compensation method according to the identified dynamic error coefficient to calculate the principle error of the system and compensate in a command, thereby obviously improving the tracking precision of the servo system.
In addition, the method for accurately compensating the dynamic error of the servo system according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the ramp signals with different amplitudes are:
further, in an embodiment of the present invention, when the servo control system has no disturbance and noise, k sets of ramp signals with different amplitudes are used as the first input signal, and a plurality of sets C are calculated 1 Value, pair obtains C 1 (k) Performing least square regression to obtain the first order dynamic error coefficient C 1 。
Further, in one embodiment of the present invention, the parabolic signals with different amplitudes are:
further, in an embodiment of the present invention, after the first-order dynamic error coefficient is obtained under the condition that the servo control system has no disturbance and noise, k sets of ramp signals with different amplitudes are used as the second input signal, and a plurality of sets C are calculated 2 Value, pair obtains C 2 (k) Performing least square regression to obtain the second-order dynamic error coefficient C 2 。
Further, in one embodiment of the present invention, the sinusoidal signal is:
further, the air conditioner is characterized in that,in one embodiment of the present invention, after the first order dynamic error coefficient and the second order dynamic error coefficient are obtained, the third order dynamic error coefficient and the above dynamic error coefficients of the servo control system are ignored, k sets of sinusoidal signals with different amplitudes are used as the third input signal, and a plurality of sets C are calculated 3 Value, approximate said third order dynamic error coefficient C 3 。
Further, in one embodiment of the present invention, the third order dynamic error coefficient C 3 The identification result is as follows:
further, in one embodiment of the present invention, when the preset input signal is r (t), the command compensation is performed on the preset input signal r (t) so that the actual input signal is r' (t) ═ r (t) + f (t), wherein,
wherein, B 1 To a first order compensation factor, B 2 Is a second order compensation coefficient, B 3 Is a third order compensation coefficient.
Further, in one embodiment of the present invention, the first order compensation coefficient B 1 For the first order dynamic error coefficient C 1 The second-order compensation coefficient B2 is
Multiplied second order dynamic error coefficient C 2 The second order compensation coefficient B 3 Is composed of
Multiplied third order dynamic error coefficient C 3 。
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for accurately compensating for servo system dynamic errors according to an embodiment of the present invention;
FIG. 2 is a simplified control block diagram of an arbitrary system according to the present invention, wherein K(s) is a controller, G(s) is a controlled object, R(s) is an input signal, Y(s) is an output signal, and E(s) is an error signal;
FIG. 3 is a block diagram of precise instruction compensation according to one embodiment of the present invention;
FIG. 4 is a graph illustrating the output error of a two-axis turret under a ramp input without adding command compensation according to an embodiment of the present invention;
FIG. 5 is a graph illustrating output error variations at sinusoidal inputs for a two-axis turret without command compensation, in accordance with one embodiment of the present invention;
FIG. 6 is a graph illustrating output error variations at a ramp input for a two-axis turret after command compensation is added in accordance with an embodiment of the present invention;
fig. 7 is a graph of output error variation of a two-axis turntable at sinusoidal inputs after adding command compensation, in accordance with one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
The following describes a method for accurately compensating a dynamic error of a servo system according to an embodiment of the present invention with reference to the accompanying drawings.
FIG. 1 is a flow chart of a method for accurately compensating a dynamic error of a servo system according to an embodiment of the present invention.
As shown in fig. 1, the method for accurately compensating the dynamic error of the servo system includes the following steps:
in step S1, the ramp signals with different amplitudes are selected as the first input signal of the servo control system, and the first order dynamic error coefficient is obtained by accurately identifying the input signal and the first error signal through the least square method. The first error signal is a signal obtained by subtracting the actual position of the system from the first input signal (position command), and similarly, a second error signal and a third error signal described below are obtained.
Specifically, as shown in fig. 2, for any controlled object model and controller, the input signal to error transfer function of the system is as follows:
when t → ∞, i.e. s ∞ 0, the error transfer function is expanded in the neighborhood of s ∞ 0 into a taylor series, i.e.:
inverse Laplace transformation is solved to obtain:
scale C 0 Is a zero order dynamic error coefficient, C 1 Is a first order dynamic error coefficient, C n Is an n-order dynamic error coefficient.
Therefore, when the system tends to be in a steady state, the function from the input signal to the error is only related to the input signal and each derivative thereof, and the open-loop transfer function of the system is as follows:
wherein, k(s) is a controller, g(s) is a controlled object, v is the number of integral links included in the system open-loop transfer function, n is the denominator order of the transfer function, m is the numerator order of the transfer function, and n > m is usually adopted. Considering that the present invention is mainly applied to a servo control system, the open-loop transfer function of the servo control system generally only includes one integral element, i.e. v is 1, so the open-loop transfer function of the system can be rewritten as:
the input to the system to the error transfer function can be expressed as:
merging the same kind of items:
using a derivation method or long division method on the above equation can be obtained:
C 0 ＝0
wherein C 0 0 means that for a servo control system, the steady state error is only related to the derivatives of the orders of the input signal, and is not related to the steady state error, so that C of the system is not needed 0 Item parameters are identified, and first-order dynamic error coefficient C is directly identified 1 And (4) finishing.
Considering the relationship of the systematic error to the input signal as:
if one wants to directly identify the first-order dynamic error coefficient C of the system through the input signal and the system error signal data 1 The selected input command is required to satisfy the feature that its first derivative is constant and its second and higher derivatives are zero.
Thus, the input signal is chosen to be a ramp signal, which is mathematically described as:
the ramp signal satisfies the first-order dynamic error coefficient C 1 All the features required. The system inputs the above ramp signal under the condition of no disturbance and no noise, and the error signal thereof is:
e(t)＝C 1 A 1
i.e. the error is constant, denoted as E 1 ，
The following can be obtained:
if noise and disturbance in the actual system are considered, k groups of ramp signals with different amplitudes can be input, namely, A is changed 1 Value, calculating a plurality of groups C 1 Value and for the obtained C 1 (k) Performing least square regression to identify accurate first-order dynamic error coefficient C 1 。
In step S2, based on the first order dynamic error coefficient, select the parabolic signals with different amplitudes as the second input signal of the servo control system, and accurately identify the second input signal and the second error signal by the least square method to obtain a second order dynamic error coefficient.
Specifically, step S2 is again based on the relationship between the dynamic error coefficient and the input signal in the servo control system:
wherein t is input signal, and constant term coefficient C corresponding to derivative of input signal 0 ，C 1 ，…，C n Are dynamic error coefficients.
At a known first order dynamic error coefficient C 1 In the case of (2), it is desirable to accurately identify the second-order dynamic error coefficient C of the system directly from the input signal data and the system error signal data 2 The selected input command is selected to satisfy the characteristic that its first derivative is known, the second derivative is constant, and the third and higher derivatives are zero.
Thus, the input signal is chosen to be a parabolic signal, which is mathematically described as:
parabola satisfies the identification of second-order dynamic error coefficient C 2 All the features required. The system inputs the above parabola under the condition of no disturbance and noise, and the error signal thereof is:
then the
e(t)＝C 1 Bt+E 2
Wherein E 2 Is a constant.
The following can be obtained:
if noise and disturbance in an actual system are considered, k groups of parabolas with different amplitudes can be input, namely, A is changed 2 Value, calculate a plurality of groups C 2 Value and for the obtained C 2 (k) Performing least square regression to identify accurate first order motionCoefficient of state error C 2 。
It can be understood that the dynamic error coefficient identification method designed in steps S1 and S2 is accurate identification, the identification result is very close to the theoretical value, and the input signals required for identification are very simple, and are common test signals in the debugging process of the servo system, so that the parameter identification can be performed normally.
In step S3, based on the first order dynamic error coefficient and the second order dynamic error coefficient, sinusoidal signals with different amplitudes are selected as the third input signal of the servo control system, and the third input signal and the third error signal are approximately identified to obtain a third order dynamic error coefficient.
Specifically, the input signal of a real system generally contains higher derivatives, and the higher the signal frequency, the larger the amplitude of the higher derivative thereof. Meanwhile, as the order rises, the high-order dynamic error coefficient of the system is also reduced. To reduce the systematic error caused by input signals with higher order derivatives, it is necessary to identify the third order dynamic error coefficient C of the system 3 And (5) identifying.
Considering that the actual servo control system generally does not use the third order signal as the input signal, the embodiment of the present invention selects the sinusoidal signal as the input signal for identifying the third order dynamic error coefficient, wherein the third order signal is:
r 3 (t)＝A 3 t 3
wherein, the sinusoidal signal is:
r s (t)＝A s sinωt
for a sinusoidal input signal, the derivatives of the orders are:
neglecting the three-order and above dynamic error coefficients of the servo control system, the dynamic error of the system can be approximately considered as:
the maximum value of the output error of the system can be approximately considered as:
FFT is carried out on the error signal of the system to obtain a sine signal with frequency omega and corresponding amplitude A max Phase angle of
The error signal obtained by the FFT can be written as:
wherein, the first and the second end of the pipe are connected with each other,
e max ＝A max
therefore, the recognition result is:
it should be noted that, the approximate identification method for the third-order dynamic error coefficient designed in step S3 has a certain deviation between the identification result and the theoretical value, but can meet the requirements of engineering application, and the identification input signal is a sinusoidal signal, which is the most frequently used input command signal when the servo control system performs the bandwidth index test. For the servo control system with the controller designed, the approximate identification of the third-order dynamic error coefficient can be completed while the bandwidth index test or the twenty index test is carried out on the servo control system.
Further, in step S3, in order to reduce the influence of the high-order dynamic error coefficient as much as possible during the identification process, the frequency of the input sinusoidal signal should be as low as possible, and the amplitude of the sinusoidal signal should be as high as possible within the allowable range of the system.
In step S4, a command compensation method is designed based on the first order dynamic error coefficient, the second order dynamic error coefficient, and the third order dynamic error coefficient.
Specifically, as shown in fig. 3, when the preset input signal is r (t), the command compensation is performed on the preset input signal r (t) so that the actual input signal is r' (t) ═ r (t) + f (t), wherein,
wherein, B 1 As first order compensation coefficient, B 2 Is a second order compensation coefficient, B 3 For the third order compensation coefficient, the relationship between the compensation coefficient and the dynamic error coefficient is as follows:
B 1 ＝C 1
wherein, in FIG. 2
Representing differential differentiation of the signals, in servo control systems, the derivative information can be used directly for command compensation if the system contains information on the derivatives of each order of the input command, in which case,
which represents the differentiation of the signal, if no commanded derivative information is contained, commanded compensation by differentiation instead of differentiation is required, at which point,
representing difference to signal. The command compensation method can remarkably reduce the principle error of a servo system, and for a ramp signal, the principle error caused by the command can be reduced to 10 -5 An order of magnitude; for parabolic signals, the principle error caused by the command itself can be reduced to 10 -4 An order of magnitude; for an input signal with a high-order derivative of a sinusoidal signal and the like being not zero, the principle error caused by the command can be obviously reduced.
It should be noted that, part of the servo control system may obtain the corresponding instruction derivative information and its high-order derivative information while obtaining the input instruction, and the derivative information and the high-order derivative information may be used to replace the differential obtaining derivative process in instruction compensation. By directly using the derivative information, the problem of command noise amplification caused by difference can be avoided, and the principle error of the system can be effectively reduced.
In the following, a horizontal biaxial turntable is taken as a research object for example to verify the accurate compensation method for the dynamic error of the servo system provided by the invention.
Firstly, respectively identifying a first-order dynamic error coefficient, a second-order dynamic error coefficient and a third-order dynamic error coefficient of a two-axis turntable according to the figure 1, and designing an accurate compensation method of a servo system dynamic error according to an identification result. The identification results are as follows:
C 1 ＝0.001623
C 2 ＝0.00794
C 3 ＝-0.066
and then, applying the designed instruction compensation method to the control accuracy test of the two-axis turntable, and comparing the output error change of the system before and after adding instruction compensation. The test signals selected here are the ramp signals r 1 (t) and a sinusoidal signal r s (t), the specific mathematical description is:
r 1 (t)＝100t
r s (t)＝5 sin 2πt
i.e. the slope of the ramp signal is 100 deg./s, the amplitude of the sinusoidal signal is 5 deg., and the frequency is 1Hz (2 pi rad/s).
As shown in fig. 4-7, it can be seen from the figure that, before adding no command compensation, the output error corresponding to the ramp input signal is 0.16 °, and after adding command compensation, it is reduced to 0.005 °; the maximum value of the output error corresponding to the sine input signal before adding the instruction compensation is 0.044 degrees, and is reduced to 0.007 degrees after adding the instruction compensation. The instruction compensation method can obviously reduce the dynamic error of the servo control system and effectively improve the control precision of the servo system.
According to the precise compensation method for the dynamic errors of the servo system, provided by the embodiment of the invention, a first-order dynamic error coefficient is accurately solved by selecting the slope signals with different amplitudes as the input signals of the system, a second-order dynamic error coefficient is accurately solved by selecting the parabola signals with different amplitudes as the input signals of the system, a third-order dynamic error coefficient is approximately solved by selecting the sine signals with different amplitudes as the input signals of the system, and finally, a command compensation method is designed according to the identified dynamic error coefficient to calculate the principle errors of the system and compensate in the command, so that the tracking precision of the servo system is obviously improved.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method for accurately compensating dynamic errors of a servo system is disclosed, wherein the relation between dynamic error coefficients and input signals in a servo control system is as follows:
wherein, r (t) is input signal, coefficient of constant term C corresponding to derivative of input signal 1 ，…，C n The method is characterized by comprising the following steps of:
step S1, selecting ramp signals with different amplitudes as first input signals of a servo control system, and accurately identifying the first input signals and the first error signals by a least square method to obtain a first-order dynamic error coefficient;
step S2, based on the first-order dynamic error coefficient, selecting parabolic signals with different amplitudes as a second input signal of a servo control system, and accurately identifying the second input signal and the second error signal through a least square method to obtain a second-order dynamic error coefficient;
step S3, based on the first order dynamic error coefficient and the second order dynamic error coefficient, selecting sinusoidal signals with different amplitudes as a third input signal of a servo control system, and approximately identifying the third input signal and the third error signal to obtain a third order dynamic error coefficient;
and step S4, designing an instruction compensation method according to the first order dynamic error coefficient, the second order dynamic error coefficient and the third order dynamic error coefficient.
2. The method as claimed in claim 1, wherein the ramp signals with different amplitudes are:
3. the method of claim 2, wherein the plurality of groups C are calculated by using k sets of ramp signals with different amplitudes as the first input signal when the servo control system has no disturbance or noise 1 Value, pair obtains C 1 (k) Performing least square regression to obtain the first-order dynamic error coefficient C 1 。
4. The method as claimed in claim 1, wherein the parabolic signals with different amplitudes are:
5. the method of claim 4, wherein after the first order dynamic error coefficient is obtained under the condition that the servo control system has no disturbance and noise, k sets of ramp signals with different amplitudes are used as the second input signal, and a plurality of sets C are calculated 2 Value, pair obtains C 2 (k) Performing least square regression to obtain the second order dynamic error coefficient C 2 。
6. The method of claim 1, wherein the sinusoidal signal is:
7. the method of claim 6, wherein after the first order and second order dynamic error coefficients are obtained, the third order and higher dynamic error coefficients of the servo control system are ignored, k sets of sinusoidal signals with different amplitudes are used as the third input signal, and a plurality of sets C are calculated 3 Value, approximate said third order dynamic error coefficient C 3 。
8. The method of claim 7, wherein the third order dynamic error coefficient C is a coefficient of a dynamic error of the servo system 3 The identification result is as follows:
9. the method of claim 1, wherein when the predetermined input signal is r (t), the command compensation is performed on the predetermined input signal r (t) such that the actual input signal is r' (t) ═ r (t) + f (t), wherein,
wherein, B 1 To a first order compensation factor, B 2 Is a second order compensation coefficient, B 3 Is a third order compensation coefficient.
10. The method of claim 9, wherein the first order compensation factor B is a first order compensation factor 1 For the first order dynamic error coefficient C 1 The second order compensation coefficient B 2 Is composed of
Multiplied second order dynamic error coefficient C 2 Said second order compensation coefficient B 3 Is composed of
Multiplied third order dynamic error coefficient C 3 。
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| 电动舵机伺服系统非线性辨识及补偿;肖前进，等;《光学精密工程》;20130831;第2038-2047页 * |
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