Servo motor system gain parameter automatically adjusting method and system

Abstract

The invention discloses a servo motor system gain parameter automatically adjusting method and system. Gain parameters include position loop gain parameters Kpp, speed loop proportional gain parameters Kvp, speed loop integral gain parameters Kvi and low-pass filter time parameters T. The servo motor system gain parameter automatically adjusting method comprises, before a servo motor system works, establishing a rigidity table composed of Kpp, Kvp, Kvi and T, and dividing the rigidity table into a plurality of rigidity levels corresponding to the incremental change of the four parameters; during working of the servo motor system, performing the following steps of (a), according to the input of the servo motor system and the output of the encoder, performing vibration testing sequentially through combinations of the four parameters with the rigidity levels increasing gradually to determine the highest rigidity level, and (b) when overshoot or vibration occurs on a servo system working according to the parameter combination of the highest rigidity level, performing integral fine tuning on the Kvi. The servo motor system gain parameter automatically adjusting method saves manual adjustment of workers and can automatically and rapidly find appropriate gain parameters.

Description

technical field [0001] The invention relates to the field of servo motors, in particular to a method and system for self-adjusting gain parameters of a servo motor system. Background technique [0002] In existing servo applications, parameter debugging involves many aspects. Although the gain parameter is the system bandwidth, the actual adjustment needs to consider different factors such as load inertia, mechanical resonance, friction suppression, etc., and aim at these If there are occasions with strict requirements, it is also necessary to consider functions such as gain switching and speed feedforward and perform separate debugging. [0003] In addition to understanding the principle of servo control, this method of parameter debugging requires a clear understanding of how each factor affects the application effect, and separate debugging for these effects in actual applications, which undoubtedly greatly improves the user experience. The requirements of the applicatio...

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Problems solved by technology

[0003] In addition to understanding the principle of servo control, this method of parameter debugging requires a clear understanding of how each factor affects the application effect, and separate debugging for these effects in actual applications, which undoubtedly greatly improves the user experience. The requirements of the application personnel, and because the phenomena encountered in the actual debugging process are similar, it also makes the application a lot of repetitive workload

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