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Servo system controller optimization method based on expected closed-loop transfer function

A technology of transfer function and optimization method, applied in the direction of total factory control, total factory control, electrical program control, etc., can solve problems such as needing experience, low efficiency, difficult system performance, etc., and achieve good performance results

Inactive Publication Date: 2014-12-03
HARBIN INST OF TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since this traditional cascade correction method does not establish a quantitative relationship between the corrected open-loop system characteristics and closed-loop system performance, it is difficult to guarantee the one-time design results to optimize the system performance, and it needs to be revised repeatedly according to the test results And adjust the structure and parameters of the controller to get better performance of the system
Obviously, the efficiency of this traditional design method based on trial and error is very low, and the quality of the design results depends to a large extent on the designer's experience
At present, although there are also literatures that propose a controller synthesis design method, such as "PID Controller Design Based on Two-Degrees-of-Freedom Direct Synthesis", W.Hu, G.Xiao, W.Jian, 2011 Chinese Control and Decision Conference (CCDC ), 201123-25May, MianYang, SiChuan, constructed different forms of closed-loop transfer functions for several typical process models, and obtained the analysis of the controller whose structure is limited to the form of PI or PID by using Taylor series expansion and Padé approximation Although the system can obtain better performance by adjusting the parameters of the closed-loop transfer function, since the quantitative relationship between the frequency response index and the controller parameters has not been established, experience is still required for debugging, and there is a certain degree of trial and error. Ensuring that closed-loop system performance is optimal
In addition, the controller optimization method for the "Double Ten" frequency response index is still rarely reported.

Method used

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  • Servo system controller optimization method based on expected closed-loop transfer function
  • Servo system controller optimization method based on expected closed-loop transfer function
  • Servo system controller optimization method based on expected closed-loop transfer function

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specific Embodiment approach 1

[0028] Specific embodiment one: the servo system controller optimization method based on the expected closed-loop transfer function of this embodiment, combined with figure 2 Specifically, it is prepared according to the following steps:

[0029] Step 1, system identification, determine the transfer function of the controlled object;

[0030] Step 2, constructing the structural form of the expected closed-loop transfer function;

[0031] Step 3, establishing the mathematical relationship between the system frequency response index, shear frequency, stability margin constraints and expected closed-loop transfer function parameters;

[0032] Step 4, use the MATLAB toolbox to solve the optimization problem, and obtain the parameters of the optimized expected closed-loop transfer function;

[0033] Step five, use the controlled object transfer function and the expected closed-loop transfer function to solve the controller.

specific Embodiment approach 2

[0034] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the transfer function of the controlled object in the step one is selected as where k G is the system gain, τ e is the electrical time constant, τ m is the electromechanical time constant, s is the Laplace operator;

[0035] The parameter k in the transfer function of the actual controlled object is measured by substituting the nominal parameter or the method of parameter identification G , τe and τ m , so as to determine the transfer function of the controlled object.

specific Embodiment approach 3

[0036] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the structural form of the desired closed-loop transfer function in the step two is where Φ E (s) is the desired closed-loop transfer function constructed, ξ is the damping ratio, w n is the natural angular frequency, s is the Laplace operator, T is the time constant of the auxiliary inertia link; where, ξ and w n is the parameter to be optimized, and T is used to ensure the physical realizability of the controller, and it is taken as a constant value, usually less than w c is the shear frequency.

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Abstract

The invention belongs to the technical field of controller optimization, and relates to a servo system controller optimization method based on an expected closed-loop transfer function. The method aims to solve the problems that because the quantitative relation between the frequency response index and the controller parameters of a present controller is not established and whether the design result is satisfactory or not is determined by experience of designers to a great extent, it can not be guaranteed that the performance of a closed-loop system is the optimal and 'double-ten' controller optimization methods are rarely reported. The method comprises the steps of firstly, determining the transfer function of a controlled object; secondly, constructing the structural form of the expected closed-loop transfer function; thirdly, establishing the mathematic relations between the expected closed-loop transfer function and the system frequency response index, the shear frequency and the stability margin constraint condition respectively; fourthly, obtaining the optimized parameters of the expected closed-loop transfer function; fifthly, working out the controller.

Description

technical field [0001] The invention relates to an optimization method of a servo system controller based on an expected closed-loop transfer function. Background technique [0002] With the high development of automation technology and its related information science and system science, the servo system plays an increasingly important role in the fields of industry, aviation, spaceflight, and navigation. The research on its controller design method naturally becomes a backup. topics of concern. In the design of the control system, the most important task is to design a controller that makes the closed-loop system stable and meets certain performance index requirements. Frequency response is a very important performance index of the servo system, and the controller design of the servo system is generally carried out around this index. This indicator reflects the tracking performance of the system. Common frequency response indicators include "double ten", -3dB, -90 degree ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 陈松林陈婷李明
Owner HARBIN INST OF TECH
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