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A method and device for trajectory pre-compensation of rotary servo motor based on prediction model

A servo motor and predictive model technology, applied in the direction of electrical program control, comprehensive factory control, program control, etc., can solve problems such as no better solution, and achieve good anti-disturbance ability, effect improvement, and accurate compensation effect.

Active Publication Date: 2022-07-08
TSINGHUA UNIV
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  • Description
  • Claims
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Problems solved by technology

[0004] However, as of now, there is no better solution

Method used

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  • A method and device for trajectory pre-compensation of rotary servo motor based on prediction model
  • A method and device for trajectory pre-compensation of rotary servo motor based on prediction model
  • A method and device for trajectory pre-compensation of rotary servo motor based on prediction model

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Embodiment Construction

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings and examples of the present invention. Obviously, the described embodiment is a specific implementation of the present invention for the trajectory tracking control of a rotary servo motor, rather than all implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0022] In this embodiment, set N p =2,N c =1, the specific compensation amount is determined as follows:

[0023] According to the system identification, the closed-loop transfer function of the rotating electrical machine is established:

[0024]

[0025] where K=k a k t r g is the equivalent gain parameter of the closed-loop control system of the rotating electrical machine, k...

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Abstract

A method and device for pre-compensating the trajectory of a rotary servo motor based on a prediction model belong to the technical field of motion control of a rotary motor. The method uses the prediction model and disturbance observation to predict the closed-loop trajectory tracking control effect of the rotating electrical machine, and designs the trajectory pre-compensation link accordingly to correct the position error to achieve good trajectory tracking control performance. The trajectory pre-compensation method includes a linear prediction model including generalized disturbance observation and a trajectory pre-compensation link based on the prediction model. The invention effectively predicts the trajectory tracking control state of the closed-loop control system of the rotating electrical machine in the future according to the known model information, and uses the prediction information to determine the optimal trajectory pre-compensation amount, which can realize the trajectory tracking performance without changing the structure of the closed-loop controller. improvement.

Description

technical field [0001] The invention relates to a motion control method for a servo motor, in particular to a method and device for pre-compensating the trajectory of a rotating motor based on a prediction model. Background technique [0002] The rotary servo motor converts the voltage signal into torque and speed to drive the control object. Compared with the traditional motor, it has the advantages of fast response speed, high tracking / positioning accuracy, and easy and precise control. However, it is inevitable to face a series of problems such as the tracking control lag caused by the insufficient stiffness of the tracking motion controller and the trajectory tracking control error caused by the external disturbance in the process of the trajectory tracking motion control of the rotary servo motor. Existing commercial servo tracking controllers and controllers are encapsulated with relatively closed underlying control algorithms to ensure basic closed-loop control stabil...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/414
CPCG05B19/4142G05B2219/34013Y02P90/02
Inventor 汪泽胡楚雄朱煜
Owner TSINGHUA UNIV
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