A Multi-channel Parallel Servo Mechanism Coordination Controller
A technology for coordinating controllers and servo mechanisms, applied in the direction of motor parameter estimation/correction, etc., can solve the problems of response performance deviation, difficulty in distributed coordinated control, difficult coordination control, etc., and achieve high-precision coordinated control and debugging tasks The effect of small amount and ensuring the accuracy of coordinated control
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[0011] The present invention will be further described below in conjunction with the accompanying drawings and examples. The solutions described here are only used to provide a further understanding of the present invention, which is a part of the application and do not constitute a limitation to the solutions of the present invention.
[0012] This embodiment takes the coordinated control of three electromechanical servo mechanisms connected in parallel as an example. There are speed saturation problems and performance differences in the high dynamic response process of the three servo mechanisms, which leads to deviations in the response process under the same position command. Such as image 3 shown. The 3-way servo mechanism uses the same drive controller, which contains a control processor, 3-way drive modules and sensor sampling circuits. The position command is regularly transmitted to the control processor by the external digital bus, and the control processor adopts ...
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