Servo system position IP controller model-free self-correcting method based on fractional order

Abstract

The invention discloses a servo system position IP controller model-free self-correcting method based on fractional order. The method includes: setting a reference model, exciting a system to obtain an offline database, initiating the related parameters of the system, updating the database according to input and output data newly collected at a current moment, selecting similar data queues according to a similarity criterion function, selecting the order of a fractional order controller, and using particle swarm optimization algorithm to perform self-correcting on fractional-order IP controller parameters. The method has the advantages that the fractional order feature of the system is considered, performance such as overshoot, rising time, error convergence speed and controller parameter variation is appraised comprehensively, the instantaneity of the system is guaranteed by using the similarity criterion function, the method is unaffected by unmodeled dynamics, and the robustness, disturbance rejection ability and control precision of the system are increased.

Description

technical field [0001] The invention belongs to the technical field of AC servo system control, and in particular relates to a model-free self-calibration method for a position IP controller of a servo system based on a fractional order. Background technique [0002] High-performance AC servo drive system is widely used in fields requiring high control precision, such as laser processing, robot control, CNC machine tools, and special processing machine tools. In the three-loop control of the AC servo system, the position loop is the outermost loop of the servo system. It is mainly used to ensure the accuracy of the static position control and the responsiveness of the dynamic tracking of the servo system. It is the ultimate embodiment of the servo control performance. [0003] The position loop IP (Integration Proportion) controller is often used in the position closed-loop control of the AC servo system. It has a strong overshoot suppression ability and can obtain better re...

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Problems solved by technology

[0007] (1) It is not applicable to the tuning of fractional order controller parameters;

[0008] (2) The setting performance index is single, only considering whether the system performance is consistent with the reference model;

[0009] (3) With the operation of the system, the amount of data will increase, and the real-time performance of the self-tuning algorithm cannot be guaranteed

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