CN117978024A - Servo motor position control method, device, medium, processor and servo system - Google Patents
Servo motor position control method, device, medium, processor and servo system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract
The invention discloses a servo motor position control method, a device, a medium, a processor and a servo system, wherein the method comprises the following steps: simplifying a servo system into a second-order system with an inertial damping link; determining a model parameter value of a second-order system, and designing an approximate time optimal control law function taking speed as a variable; constructing a speed limiting function by using an optimal control law function, speed, position error and speed saturation limiter; constructing a speed observer, and estimating the speed and disturbance; controlling the operation of the motor: when a reference instruction is input, controlling the motor to be in an acceleration stage, and accelerating by adopting an optimal control law function; when the speed is accelerated to the set maximum value, constant speed control is carried out by a speed limiting function, and the gain of the controller is switched; when the controlled object approaches the target position, the motor is controlled to be in a deceleration stage, the gain of the controller is switched back, and the optimal control law function is adopted for deceleration. The invention designs speed limit while precisely positioning.
Description
Technical Field
The invention relates to the field of motor servo systems, in particular to a servo motor position control method, a servo motor position control device, a servo motor position control medium, a servo motor processor and a servo system.
Background
In recent years, the automatic control theory gradually matures in motor control application, and simultaneously, the alternating current servo control technology is greatly improved along with the development of power electronic technology, motor manufacturing technology, computer science and technology, sensor technology and rare earth permanent magnet materials. In industrial automatic production, a system is often required to quickly and accurately reach a positioning target, and the industry and scientific research institutions at home and abroad invest a great deal of time and effort in research on a high-precision servo control algorithm.
At present, the servo control system most commonly adopts a multi-ring cascade control structure based on PID, and the PID has the advantages of simple structure and few adjustment parameters, but the servo control system is linear control with single degree of freedom, and has outstanding contradiction between quick response and low overshoot, and is easy to generate integral saturation phenomenon. In the practical application process, the disturbance resistance is poor, the robustness is lacking, three adjustable parameters with superior performance are required to be adjusted in real time along with the system input and disturbance change in order to keep the performance at all times, and the method is very troublesome to use in accurate positioning.
In order to realize the fastest positioning, the traditional approximate time optimal servo controller only has two stages of acceleration and deceleration in the operation process. It would be of great interest in industrial applications if a speed limit could be designed while precisely positioning.
Disclosure of Invention
In view of the above, the technical problem to be solved by the invention is to provide a servo motor position control method, a device, a medium, a processor and a servo system, which can realize quick and accurate positioning of a motor under the condition of disturbance, and can set a maximum speed at the same time to control the maximum speed of the motor.
As a first aspect of the present invention, a technical solution of an embodiment of a servo motor position control method is provided as follows:
A servo motor position control method, wherein the method comprises the steps of:
Simplifying a servo system into a second-order system with an inertial damping link;
Determining a model parameter value of the second-order system, and designing an approximate time optimal control law function taking speed as a variable;
Constructing a speed limiting function by using the approximate time optimal control law function, the speed, the position error and the speed saturation limiter;
Constructing a speed observer, and estimating the speed and disturbance;
the operation of the motor is controlled according to the following control strategy:
when a reference instruction is input, controlling the motor to be in an acceleration stage, and accelerating by adopting the approximate time optimal control law function;
When the motor is accelerated to the maximum value set by the speed saturation limiter, constant-speed control is performed by the speed limiting function, and meanwhile, the gain of the controller is switched from a first gain to a second gain, so that the stability of the servo system during constant-speed control is ensured;
When the controlled object approaches the target position, the motor is controlled to be in a deceleration stage, the gain of the controller is switched back to the first gain from the second gain, and the speed is reduced by adopting the approximate time optimal control law function until the controlled object stably reaches the target position.
Further, the approximate time optimal control law function taking the speed as a variable comprises: the linear control and the nonlinear control are switched according to the speed, and the calculation formula is as follows:
Wherein v is the speed; v 1 is the width of the linear control region; k 1 and k 2 are set coefficients, and k 1>0、k2 <0; sign (v) is a sign function of velocity v for extracting the sign of velocity v; a and b are model parameters of the second order system, and a <0, b >0; u max is the maximum value of the current loop output of the servo system; y s is a function related to the model of the second order system, the maximum acceleration of the servo system and v 1.
Further, the speed limit function calculation formula is as follows:
Wherein e represents tracking error, which is equal to the input reference command r minus the position feedback y; a speed estimated for the observer; sat (·) represents a limited saturation function, and the speed command f p can be expressed as:
wherein sign (·) is a sign function; v max is the maximum value set by the speed saturation limiter.
Further, when the speed control is performed, the controller gain is switched, and the calculation formula is as follows:
Wherein ω is the bandwidth of the controller position loop design; omega cv is the bandwidth of the controller speed loop design; f p is the speed calculated according to the speed limit function; v max is the maximum value set by the speed saturation limiter.
As a second aspect of the present invention, a technical solution of an embodiment of a servo motor position control device is provided as follows:
a servo motor position control device, wherein the device comprises the following units:
the system simplifying unit is used for simplifying the servo system into a second-order system with an inertial damping link;
The approximate time control law function design unit is used for determining the model parameter value of the second-order system and designing an approximate time optimal control law function taking the speed as a variable;
the speed limit function building unit is used for building a speed limit function according to the approximate time optimal control law function, the speed, the position error and the speed saturation limiter;
a speed observer building unit for building a speed observer, and estimating the speed and the disturbance;
The motor operation control unit is used for controlling the operation of the motor according to the following control strategy:
when a reference instruction is input, controlling the motor to be in an acceleration stage, and accelerating by adopting the approximate time optimal control law function;
When the motor is accelerated to the maximum value set by the speed saturation limiter, constant-speed control is performed by the speed limiting function, and meanwhile, the gain of the controller is switched from a first gain to a second gain, so that the stability of the servo system during constant-speed control is ensured;
When the controlled object approaches the target position, the motor is controlled to be in a deceleration stage, the gain of the controller is switched back to the first gain from the second gain, and the speed is reduced by adopting the approximate time optimal control law function until the controlled object stably reaches the target position.
As a third aspect of the present invention, an embodiment of a computer-readable storage medium is provided as follows:
A computer readable storage medium, wherein the computer readable storage medium stores a computer program which, when run, performs the method of any one of the first aspects.
As a fourth aspect of the present invention, an embodiment of a processor is provided as follows:
A processor, wherein the processor is configured to run a program that, when run, performs the method of any of the first aspects.
As a fifth aspect of the present invention, a technical solution of an embodiment of a servo system is provided as follows:
A servo system comprising the servo motor position control device according to any one of the second aspect.
The invention relates to four parts, the first part proposes a nonlinear function of the speed variable, in order to ensure the smoothness of the servo system and to be able to switch the linear or nonlinear control; the second part combines the state feedback, the speed limit saturation function and the nonlinear function of the first part to design a speed control law capable of realizing constant speed adjustment, thereby being capable of limiting the maximum speed of system operation: the third part comprises disturbance feedforward and speed compensation to form a final control law, so that the stability of the system is ensured, and the system can quickly respond and disturbance compensate: and the fourth part is used for amplifying the system model and designing a reduced order expansion state observer to estimate the speed and disturbance. The invention can realize stable and rapid tracking of a large-scale target under the condition of limited control quantity and speed.
Compared with the prior art, the invention has the following beneficial effects:
The invention builds the speed limiting function based on the approximate time optimal control law function, the speed, the position error and the speed saturation limiter, and when the motor is accelerated to the maximum value set by the speed saturation limiter, the speed limiting function is used for constant speed control, so that the speed of the motor can be controlled while the motor is rapidly and accurately positioned, the servo system can be accurately and rapidly tracked and positioned under the condition of load, namely, the motor has good instantaneous performance, steady-state performance and robustness, and the practicability of the system in special occasions is improved.
Drawings
FIG. 1 is a schematic diagram of a servo system according to the present invention;
FIG. 2 is a flowchart of a servo motor position control method according to a first embodiment of the present invention;
fig. 3 is a schematic block diagram of a servo motor position control device according to a third embodiment of the present invention.
The reference numerals are as follows:
102, controlled object;
The hardware includes:
101, a controller is a robust composite nonlinear controller;
108, a speed observer;
112 is a sum-speed saturation limiter,
The signals, parameters and functions include:
103, unknown disturbance;
104, the output position of the servo system;
105, a reference instruction input for a servo system;
106 is the speed estimated by the speed observer;
107 is the disturbance estimated by the velocity observer;
109 is an approximate time optimal control law function;
110, a saturation function;
111 is a speed limiting function;
113 is the gain of the controller.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the specification, claims and drawings, when a step is described as being continued to another step, the step may be continued directly to the other step or through a third step to the other step; when an element/unit is described as being "connected" to another element/unit, the element/unit may be "directly connected" to the other element/unit or "connected" to the other element/unit through a third element/unit.
Moreover, the drawings of the present disclosure are schematic representations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. The functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or micro-control devices.
Position control of a servo motor is a technique by which the position of the motor is controlled in order to accurately position and control the mechanical system. Position control of servo motors is very useful in applications requiring high accuracy, high speed and fast response, such as in numerically controlled machine tools, robots, printers, aircraft, etc. Through effective feedback and control algorithms, the servo motor can achieve accurate position control to meet the requirements of various industrial and automation applications.
The position control of the servo motor is usually realized through a feedback system, a control algorithm and a controller, fig. 1 is a schematic structural diagram of the servo system of the present invention, and the working principle is briefly described as follows:
(1) And (3) position feedback is obtained: a critical part of the position control is a feedback system, typically using encoders or other position sensors to monitor the actual position of the motor, which provide feedback signals regarding the current position of the motor, referred to herein as position feedback.
(2) Inputting a reference instruction: the servo system determines the position to which the motor should be moved by inputting a target position, typically user or program specified, such as the position of the workpiece in a numerically controlled machine tool, which is referred to herein as a reference command, r in fig. 1.
(3) Acquiring tracking errors: the control system calculates the position error of the motor by comparing the target position with the current position, which is a key indicator that the control system uses to determine in which direction the motor should move, the position error being referred to as tracking error, e in fig. 1.
(4) The design control algorithm outputs a control signal: servo systems typically use PID (proportional-integral-derivative) or other control algorithms to calculate an output control signal based on position error, which adjusts the motor motion based on the magnitude, rate of change, and integral accumulation of the error to reduce the error and move the motor to a target position.
(5) The controller executes the control signal: the control signals are executed by a controller, typically an embedded controller, a PLC (programmable logic controller) or a computer, which generates control signals according to a control algorithm and sends them to the servo motor driver.
(6) The servo motor driver controls the motor to run: the servo motor driver receives the control signals and controls the torque and speed of the motor in accordance with these signals to move the motor to the target position.
(7) Motion execution feedback: the servo motor starts to move according to the signal of the driver, and simultaneously continuously monitors position feedback, and adjusts the movement according to the feedback signal until the error tends to zero, namely the motor reaches the target position.
(8) Stability assurance and control optimization: the control system can constantly monitor the position of the motor and fine tune it as needed to ensure stable and accurate position control, and can also take into account speed, acceleration and deceleration to achieve smooth position changes.
First embodiment
Fig. 2 is a flowchart of a servo motor position control method according to a first embodiment of the present invention, please refer to fig. 2, wherein the method includes the following steps:
S100, simplifying a servo system into a second-order system with an inertial damping link;
S200, determining a model parameter value of a second-order system, and designing an approximate time optimal control law function taking speed as a variable;
S300, constructing a speed limiting function by using an approximate time optimal control law function, a speed, a position error and a speed saturation limiter;
s400, constructing a speed observer, and estimating the speed and disturbance;
s500, controlling the operation of the motor according to the following control strategy:
When a reference instruction is input, controlling the motor to be in an acceleration stage, and accelerating by adopting an approximate time optimal control law function;
When the motor is accelerated to the maximum value set by the speed saturation limiter, constant-speed control is performed by the speed limiting function, and meanwhile, the gain of the controller is switched from the first gain to the second gain, so that the stability of the servo system during constant-speed control is ensured;
when the controlled object approaches the target position, the motor is controlled to be in a deceleration stage, the gain of the controller is switched back to the first gain from the second gain, and the speed is reduced by adopting an approximate time optimal control law function until the controlled object stably reaches the target position.
The invention builds the speed limiting function based on the approximate time optimal control law function, the speed, the position error and the speed saturation limiter, and when the motor is accelerated to the maximum value set by the speed saturation limiter, the speed limiting function is used for constant speed control, so that the speed of the motor can be controlled while the motor is rapidly and accurately positioned, the servo system can be accurately and rapidly tracked and positioned under the condition of load, namely, the motor has good instantaneous performance, steady-state performance and robustness, and the practicability of the system in special occasions is improved.
Returning to step S100, wherein the servo system is reduced to a second order system with inertial damping links, the second order model can be described by the following model:
Wherein y is the output position of the servo system; v is the speed; u is the output of a current loop of the servo system, and the U amplitude of the embodiment is limited; d is an unknown disturbance caused by a load or other factors; a and b are model parameters, and a <0, b >0; sat (·) represents the limit saturation function.
Wherein, the approximate time optimal control law function using the speed as a variable in the step S200 comprises the following steps: the linear control and the nonlinear control are switched according to the speed, and the calculation formula is as follows:
Wherein v is the speed; v 1 is the width of the linear control region, the threshold value of the absolute value of the velocity; k 1 and k 2 are set coefficients, and k 1>0、k2 <0; sign (v) is a sign function of velocity v for extracting the sign of velocity v; a and b are model parameters of the second-order system, and a <0, b >0; u max is the maximum value of the current loop output of the servo system; y s is a function related to the model of the second order system, the maximum acceleration of the servo system and v 1.
It can be seen from the above formula that the motor operates in the nonlinear control region when the absolute value of the speed v is less than or equal to the threshold v 1, and operates in the linear control region when the absolute value of the speed v is greater than the threshold v 1. In specific implementation, in order to make servo system parameter tuning more convenient, a closed loop pole damping coefficient ζ e (0, 1) and a natural frequency ω >0 of a linear control region may be used as design parameters (dual degrees of freedom), so as to determine values of k 1 and k 2.
Wherein e represents tracking error, which is equal to the input reference command r minus the position feedback y; a speed estimated for the observer; sat (·) represents a limited saturation function, and the speed command f p can be expressed as:
wherein sign (·) is a sign function; v max is the maximum value set by the speed saturation limiter.
Returning to S400, the reduced order extended state observer, which is designed as a discrete time domain when the velocity observer is implemented, i.e. 108 in fig. 1, is built to estimate the velocity of the system and the unknown disturbance.
Assuming that the disturbance of the system is piecewise steady or slowly varying, the differential equation can be described as:
d (k+1) =d (k) equation 5;
Wherein: k is the sampling times of the discrete time domain;
combining the equation expressed by equation 5 into the model expressed by equation 1, the augmented model is obtained as:
wherein:
Where the first value x 1 of the state variable x (i.e., the output position 104) is measurable, only the observed estimates of the velocity v and the unknown disturbance d are needed, and thus the reduced-order velocity observer 108 is designed as follows:
wherein, the observer internal state quantity at eta (k); And/> Estimated values of velocity and disturbance (signal 106 and signal 107), respectively;
Wherein the damping coefficient of the observer is usually 0.7-1.0, and the natural frequency of the observer is usually three times of the natural frequency of the state feedback pole.
Since both disturbance and control signals are combined in the system model into the system input channels (corresponding to the same matrix B), the observer observes a composite disturbance signal, including input disturbance and model bias. Substituting the speed and disturbance estimated by the observer to obtain the approximate time optimal control law function taking the speed as a variable in the final step S200, wherein the approximate time optimal control law function is as follows:
where kv is the controller gain calculation formula.
Returning to step S500, in which the controller gain is switched while the speed control is performed, the calculation formula is as follows:
Wherein ω is the bandwidth of the controller position loop design; omega cv is the bandwidth of the controller speed loop design; f p is the speed calculated according to the speed limit function; v max is the maximum value set by the speed saturation limiter.
The final control quantity u (K) related to the gain K is applied to the controlled object after passing through the saturation limiter 112, as shown in fig. 1. The control law consists of an approximate time optimal control law function taking speed as a variable, a speed limiting function and a speed observer, wherein the approximate time optimal control law function taking speed as the variable is used for dividing a linear working area and a nonlinear working area, the linear working area ensures that the system is stable and free from overshoot, and the nonlinear working area ensures that the system is fast in response. The speed limiting function is used to limit the maximum speed at which the system operates. The velocity observer is used to estimate velocity and disturbance.
The embodiment of the invention combines the motor speed loop and the position loop, takes the torque current as the control quantity, takes the motor rotation angle as the output quantity, classifies the uncertain factors of the load torque and the model as disturbance, designs the robust approximate time optimal servo control design scheme of the speed limitation, can realize quick and accurate positioning under various load conditions, can set the upper speed limit, and is significant in practical application.
Second embodiment
Fig. 3 is a schematic block diagram of a servo motor position control device according to a second embodiment of the present invention, please refer to fig. 3, wherein the servo motor position control device includes the following units:
the system simplifying unit is used for simplifying the servo system into a second-order system with an inertial damping link;
the approximate time control law function design unit is used for determining the model parameter value of the second-order system and designing an approximate time optimal control law function taking the speed as a variable;
the speed limit function building unit is used for building a speed limit function by approximating the time optimal control law function, the speed, the position error and the speed saturation limiter;
the speed observer building unit is used for building a speed observer and estimating the speed and disturbance;
The motor operation control unit is used for controlling the operation of the motor according to the following control strategy:
When a reference instruction is input, controlling the motor to be in an acceleration stage, and accelerating by adopting an approximate time optimal control law function;
When the motor is accelerated to the maximum value set by the speed saturation limiter, constant-speed control is performed by the speed limiting function, and meanwhile, the gain of the controller is switched from the first gain to the second gain, so that the stability of the servo system during constant-speed control is ensured;
when the controlled object approaches the target position, the motor is controlled to be in a deceleration stage, the gain of the controller is switched back to the first gain from the second gain, and the speed is reduced by adopting an approximate time optimal control law function until the controlled object stably reaches the target position.
The technical means adopted by the control device of the embodiment is consistent with the control method of the first embodiment, and the beneficial effects are the same.
Further, the approximate time optimal control law function taking the speed as a variable comprises: the linear control and the nonlinear control are switched according to the speed, and the calculation formula is as follows:
Wherein v is the speed; v 1 is the width of the linear control region; k 1 and k 2 are set coefficients, and k 1>0、k2 <0; sign (v) is a sign function of velocity v for extracting the sign of velocity v; a and b are model parameters of the second order system, and a <0, b >0; u max is the maximum value of the current loop output of the servo system; y s is a function related to the model of the second order system, the maximum acceleration of the servo system and v 1.
Further, the speed limit function calculation formula is as follows:
Wherein e represents tracking error, which is equal to the input reference command r minus the position feedback y; a speed estimated for the observer; sat (·) represents a limited saturation function, and the speed command f p can be expressed as:
wherein sign (·) is a sign function; v max is the maximum value set by the speed saturation limiter.
Further, when the speed control is performed, the controller gain is switched, and the calculation formula is as follows:
Wherein ω is the bandwidth of the controller position loop design; omega cv is the bandwidth of the controller speed loop design; f p is the speed calculated according to the speed limit function; v max is the maximum value set by the speed saturation limiter.
Third embodiment
The units integrated by the control device in the above-described second embodiment may be stored in a computer-readable storage medium if implemented as software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Accordingly, a third embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, which when executed performs the method of any one of the embodiments.
Fourth embodiment
A fourth embodiment of the present invention provides a processor configured to execute a program, where the program executes the method of any one of the specific embodiments of the first embodiment.
Fifth embodiment
A fifth embodiment of the present invention provides a servo system, including an apparatus according to any one of the embodiments of the second embodiment.
The servo system of the embodiment comprises the device of any specific implementation mode of the second embodiment, so that the servo system can accurately and rapidly track and position under the condition of load, namely, the servo system has good instantaneous performance, steady-state performance and robustness, and the practicability of the system in special occasions is improved.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. A method for controlling the position of a servo motor, the method comprising the steps of:
Simplifying a servo system into a second-order system with an inertial damping link;
Determining a model parameter value of the second-order system, and designing an approximate time optimal control law function taking speed as a variable;
Constructing a speed limiting function by using the approximate time optimal control law function, the speed, the position error and the speed saturation limiter;
Constructing a speed observer, and estimating the speed and disturbance;
the operation of the motor is controlled according to the following control strategy:
when a reference instruction is input, controlling the motor to be in an acceleration stage, and accelerating by adopting the approximate time optimal control law function;
When the motor is accelerated to the maximum value set by the speed saturation limiter, constant-speed control is performed by the speed limiting function, and meanwhile, the gain of the controller is switched from a first gain to a second gain, so that the stability of the servo system during constant-speed control is ensured;
When the controlled object approaches the target position, the motor is controlled to be in a deceleration stage, the gain of the controller is switched back to the first gain from the second gain, and the speed is reduced by adopting the approximate time optimal control law function until the controlled object stably reaches the target position.
2. The servo motor position control method according to claim 1, wherein the approximate time optimal control law function using speed as a variable includes: the linear control and the nonlinear control are switched according to the speed, and the calculation formula is as follows:
Wherein v is the speed; v 1 is the width of the linear control region; k 1 and k 2 are set coefficients, and k 1>0、k2 <0; sign (v) is a sign function of velocity v for extracting the sign of velocity v; a and b are model parameters of the second order system, and a <0, b >0; u max is the maximum value of the current loop output of the servo system; y s is a function related to the model of the second order system, the maximum acceleration of the servo system and v 1.
3. The servo motor position control method according to claim 1, wherein the speed limit function calculation formula is as follows:
Wherein e represents tracking error, which is equal to the input reference command r minus the position feedback y; a speed estimated for the observer; sat (·) represents a limited saturation function, and the speed command f p can be expressed as:
wherein sign (·) is a sign function; v max is the maximum value set by the speed saturation limiter.
4. The servo motor position control method according to claim 1, wherein the controller gain is switched at the time of speed control, and the calculation formula is as follows:
Wherein ω is the bandwidth of the controller position loop design; omega cv is the bandwidth of the controller speed loop design; f p is the speed calculated according to the speed limit function; v max is the maximum value set by the speed saturation limiter.
5. A servo motor position control device, characterized in that the device comprises the following units:
the system simplifying unit is used for simplifying the servo system into a second-order system with an inertial damping link;
The approximate time control law function design unit is used for determining the model parameter value of the second-order system and designing an approximate time optimal control law function taking the speed as a variable;
A speed limit function building unit, configured to build a speed limit function according to the approximate time optimal control law function, the speed, the position error, and the speed saturation limiter;
a speed observer building unit for building a speed observer, and estimating the speed and the disturbance;
The motor operation control unit is used for controlling the operation of the motor according to the following control strategy:
when a reference instruction is input, controlling the motor to be in an acceleration stage, and accelerating by adopting the approximate time optimal control law function;
When the motor is accelerated to the maximum value set by the speed saturation limiter, constant-speed control is performed by the speed limiting function, and meanwhile, the gain of the controller is switched from a first gain to a second gain, so that the stability of the servo system during constant-speed control is ensured;
When the controlled object approaches the target position, the motor is controlled to be in a deceleration stage, the gain of the controller is switched back to the first gain from the second gain, and the speed is reduced by adopting the approximate time optimal control law function until the controlled object stably reaches the target position.
6. A computer readable storage medium, characterized in that it stores a computer program which, when run, performs the method of any one of claims 1 to 4.
7. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 7.
8. A servo system comprising the servo motor position control device of claim 5.
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