A speed-limited point-to-point motion control method for large strokes

Abstract

The invention relates to a speed-limited large-stroke point motion control method. Aiming at the model of the second-order servo system, a time quasi-optimal fixed-point servo control law with a smooth transition from the time optimal control law to the linear control law is designed. A speed control law that can realize constant speed adjustment; the system adopts the time quasi-optimal fixed-point servo control law to accelerate in the initial stage of point movement, and switches to the selected speed when the speed reaches its limit value and tends to continue to increase The above speed control law is used for constant speed regulation, and then when the system enters the target neighborhood, it switches back to the time quasi-optimal servo control law for deceleration and smooth control. The invention can realize fast and stable tracking of a wide-range position target under the conditions of control quantity limitation and speed limitation.

Description

technical field [0001] The invention relates to the technical field of industrial servo control, in particular to a speed-limited large stroke point motion control method. Background technique [0002] In application environments such as industrial processing and automatic assembly, a large range of point-to-point motion control is usually required. This kind of position servo system must have fast response and low overshoot under limited control force and speed limit, and have sufficient robustness. [0003] So far, researchers in academia and industry have done a lot of research and proposed various control schemes. However, in most of the schemes, factors such as the limitation of control quantity saturation or speed limitation are not properly considered in the design of the controller. The control system designed in this way is either too conservative and cannot fully exploit the potential of the system, or is too radical to be practical in practice. Operation may cau...

AI Technical Summary

Problems solved by technology

However, in most of the schemes, factors such as the limitation of control quantity saturation or speed limitation are not properly considered in the design of the controller. The control system designed in this way is either too conservative and cannot fully exploit the potential of the system, or is too radical to be practical in practice. May cause instability or other risks during operation

[0004] For the fixed-point control problem under the condition of limited control quantity, although the time optimal control theory gives the so-called Bang-bang control law, its essence is that the control quantity switches between positive and negative extreme values. It is very sensitive to the deviation and noise of the system model, and chattering phenomenon will occur; moreover, with the increase of the position target, the peak value of the system speed under the action of the Bang-bang control law will exceed the allowable range of the actual system, causing system failure

These problems bring difficulties to the practical application

At present, in the industrial servo system, PID control is mainly used, but the PID control algorithm needs to extract the differential signal from the error amount of the system, which may cause noise amplification and reduce the robustness of the system; PID control cannot be controlled simultaneously within a given bandwidth range. Achieve fast response and low overshoot, and it is easy to produce the so-called integrator windup; the control performance of PID changes with the given target and load of the system, and it cannot obtain ideal performance in a large working range

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