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Method for controlling output feedback of motor position servo system

A servo system and motor position technology, applied in the estimation/correction of motor parameters, observer control, etc., can solve the problems of measurement noise affecting system tracking performance, inability to install speed sensors, and performance of motor servo systems, etc., to achieve improvement Low-speed servo performance, improved high-frequency dynamics and measurement noise, and the effect of small feedback gain

Active Publication Date: 2014-09-24
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, high-frequency dynamics and measurement noise problems caused by high-gain feedback will affect system tracking performance;
[0006] 3. Most of the existing motor servo system control methods are full state feedback control
Full state feedback control needs to obtain the position and speed signals of the motor servo system. However, in engineering practice, in order to save costs or due to limited volume, quality, and structure, it is impossible to install a speed sensor. More importantly, the measurement noise generated by the measurement of the speed signal It will have a non-negligible impact on the performance of the motor servo system

Method used

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  • Method for controlling output feedback of motor position servo system
  • Method for controlling output feedback of motor position servo system

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Experimental program
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Embodiment

[0106] Motor position servo system parameters are inertial load parameters: m = 0.02kg; viscous friction coefficient B = 10N m s / °; torque amplification factor k i =6N / V; time-varying external disturbance f(t)=10sint; parameters in the continuous friction model: l 1 =0.1; l 2 =0.06; l 3 =700; l 4 =15; l 5 = 1.5.

[0107] The position command that the system expects to track is as follows Figure 4 The curves of the sine command shown, the command speed and acceleration changing with time are also given together.

[0108] Comparison of simulation results: nonlinear output feedback controller (OFRC) parameter selection: k 1 =0.3;k 2 = 800; ω 0 =6000; PID controller parameter selection: k P =1699;k I = 13097; k D =0.

[0109] The selection steps of the PID controller parameters are as follows: First, under the condition of ignoring the nonlinear dynamics of the motor servo system, a set of controller parameters are obtained through the PID parameter self-tuning functi...

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Abstract

The invention discloses a method for controlling output feedback of a motor position servo system. The method comprises the following steps that a mathematic model of the motor position servo system is established; an extended state observer is designed, and the state of the system and interference in the mathematic model are observed; a second-order low-pass filter is designed so that an error system of the motor position servo system can be established, and an output feedback controller is designed according to the error system; stability certification is conducted on the motor position servo system according to the Lyapunov stability theory, and a result of the global asymptotic stability of the system is obtained according to the Barbalat lemma. According to the method for controlling output feedback of the motor position servo system, considering uncertainty such as external interference, the extended state observer conducts estimation, compensation is conducted during design of a controller, and therefore the robustness of the actual motor position servo system to external interference is improved; in this way, the problems of a high-frequency dynamic condition, measurement noise and the like caused by high-gain feedback are greatly relieved, so that the shadowing property of the system is improved, and the motor position servo system can be applied to practical engineering more conveniently.

Description

technical field [0001] The invention relates to the technical field of electromechanical servo control, in particular to an output feedback control method of a motor position servo system. Background technique [0002] The motor servo system has outstanding advantages such as fast response, convenient maintenance, high transmission efficiency, and convenient energy acquisition. It is widely used in various important fields, such as robots, machine tools, and electric vehicles. With the rapid development of the modern control engineering field, the requirements for the tracking performance of the motor servo system are getting higher and higher, but how to design the controller to ensure the high performance of the motor servo system is still a difficult problem. This is because the motor servo system is a typical nonlinear system, and there will be many modeling uncertainties (such as unmodeled disturbances, nonlinear friction, etc.) in the process of designing the controlle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/14H02P23/12
Inventor 邓文翔姚建勇马大为乐贵高朱忠领胡健任杰杨贵超董振乐徐张宝
Owner NANJING UNIV OF SCI & TECH
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