CN102944996A - Servo system controller and control method - Google Patents

Abstract

The invention relates to a servo system controller and a control method. The servo system controller comprises a servo system parameter storage part, a parameter calculation part, an initial signal acquisition part, a feedback sensing part and a correction part, wherein a shear frequency of a servo system, a target operating value and a phase margin are stored in the servo system parameter storage part; the parameter calculation part is used for respectively calculating a differential gain, a proportional gain and a differential degree according to the shear frequency and the phase margin; the initial signal acquisition part is used for acquiring an initial control signal for controlling the servo system to start to operate when the servo system is in a startup state according to the differential gain, the proportional gain and the differential degree; the servo system starts to operate according to the initial control signal; the feedback sensing part is used for sensing the action of the servo system and sending a corresponding action feedback signal according to the action; the correction part is used for acquiring an action correction signal for correcting the servo system according to the action feedback signal, the target operating value, the differential gain, the proportional gain and the differential degree; and the servo system is regulated to operate according to the correction signal, so that the action accuracy of the servo system is ensured.

Description

Servo system controller and control method

Technical field

The present invention relates to a kind of servo system controller and control method.

Background technology

Servo-drive system is occupied very important status at automation field, is that a kind of controlled volume is the feedback control system of displacement, speed, acceleration, can accurately follow certain control procedure.In addition, some servo-drive system working environments are complicated, and there is larger uncertain and hysteresis in system, and the in the course of the work variation of inertia load, is typical nonlinear system.The controller that adopts in the servo-drive system based on automatic control technology at present mostly is conventional PID controllers, fuzzy adaptive controller, nerve network controller etc.The conventional PID controllers control method is too simple, the control performance of parameter also has certain limitation, although conventional PID controllers realizes control performance by three parameters, but its differential order is 1 rank, therefore the type of control system is more fixing, will produce larger error for what new fractional-order system employing conventional PID controllers was controlled, the control effect does not reach the control accuracy requirement sometimes.Therefore, for servo-drive system non-linear, that lag behind, adopt conventional controller often to be difficult to satisfy system to the requirement of robustness and lasting accuracy.

Summary of the invention

Can either have stable precision and can improve system robustness and dirigibility again in order to satisfy servo-drive system, the invention provides a kind of servo system controller and control method.

A kind of servo system controller of controlling servo-drive system is characterized in that: the servo parameter storage part that comprises the shearing frequency that stores servo-drive system, phase margin, target working value; Calculate respectively the calculation of parameter section of storage gain, proportional gain and integration order according to the shearing frequency in the servo parameter storage part and phase margin, obtain the initialize signal acquisition unit of controlling the initial control signal of its initial actuating when the described servo-drive system starting state according to storage gain, proportional gain and integration order, servo-drive system begins action according to this initial control signal; The action of induction servo-drive system is also sent the feedback detecting means of corresponding action feedback signal according to this action; Obtain the correction section of the action deviation correcting signal of correcting servo-drive system according to action feedback signal, target working value and storage gain, proportional gain and integration order, move to guarantee according to this deviation correcting signal adjustment servo-drive system action accurately.

Further, servo system controller provided by the invention can also have such feature: the deviation correcting signal acquisition unit has the feedback signal converter section that described action feedback signal is converted to the actual act value; Calculate the deviation calculating part of the action deviation of described servo-drive system according to described actual act value and described target working value; Obtain the deviation correcting signal acquisition unit of the corrective control signal of the described servo-drive system action of control correction according to described action deviation and described storage gain, described proportional gain and described integration order; Described this corrective control signal is converted to the deviation correcting signal converter section of the corresponding described action deviation correcting signal that described servo-drive system can receive.

Further, servo system controller provided by the invention can also have such feature: storage gain, proportional gain and integration order by choosing servo system models are respectively

The following relational expression that form draws calculates,

$K_i=\frac{-\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{C}L+{\mathrm{\φ}}_m)}{M}---\left(4\right)$

$K_p=\sqrt{\frac{A^2+B^2}{{(1+K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\cos \left(\frac{\mathrm{\λ\π}}{2}\right))}^2+{\left(K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)\right)}^2}}---\left(6\right)$

Wherein: s represents frequency domain, K _pBe proportional gain; K _iBe storage gain; λ is the integration order; ω _cBe shearing frequency; φ _mBe phase margin; A=1-T ₂ω _c ²B=T ₃ω _c-T ₁ω _c ³

$M={{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)+{\mathrm{\ω}}_c\cos \left(\frac{\mathrm{\λ\π}}{2}\right)\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{c}L+{\mathrm{\φ}}_m);$

T ₂, T ₁, T ₃, L is constant, A, B, M,

Y is as the replacement of formula.

Further, servo system controller provided by the invention can also have such feature: initialize signal acquisition unit and correction section all are by with K _p, K _i, and the value of λ bring function into Obtain initial control signal and action control signal, in this function, s represents frequency domain, and initial control signal and action control signal are namely drawn by this frequency domain.

Further, servo system controller provided by the invention can also have such feature: λ for (0,2] any real number in the scope.

In addition, a kind of servo system control method provided by the invention is characterized in that: be provided with the shearing frequency that the servo parameter storage part stores described servo-drive system, the target working value; Adopt calculation of parameter section to calculate respectively storage gain, proportional gain and integration order according to the shearing frequency in the servo parameter storage part, adopt the initialize signal acquisition unit to come to obtain the initial control signal of controlling its initial actuating when the servo-drive system starting state according to storage gain, proportional gain and integration order, servo-drive system begins action according to this initial control signal; Adopt the feedback detecting means to respond to the action of servo-drive system and send corresponding action feedback signal according to this action; Adopt correction section to come to obtain the action deviation correcting signal of correcting servo-drive system according to action feedback signal, described target working value and storage gain, proportional gain and integration order, servo-drive system guarantees the accurate of servo-drive system action according to this deviation correcting signal adjustment action.

Further, servo system control method provided by the invention can also have such feature: the deviation correcting signal acquisition unit is by adopting the feedback signal converter section that described action feedback signal is converted to the actual act value; Adopt the deviation calculating part to calculate the action deviation of described servo-drive system according to described actual act value and described target working value; Adopt the deviation correcting signal acquisition unit to come to obtain the corrective control signal of the described servo-drive system action of control correction according to described action deviation and described storage gain, described proportional gain and described integration order; Adopt the deviation correcting signal converter section that described this corrective control signal is converted to the corresponding described action deviation correcting signal that described servo-drive system can receive.

Further, servo system control method provided by the invention can also have such feature: storage gain, proportional gain and integration order by choosing servo system models are respectively

The following relational expression that form draws calculates,

$K_i=\frac{-\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{C}L+{\mathrm{\φ}}_m)}{M}---\left(4\right)$

$K_p=\sqrt{\frac{A^2+B^2}{{(1+K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\cos \left(\frac{\mathrm{\λ\π}}{2}\right))}^2+{\left(K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)\right)}^2}}---\left(6\right)$

Wherein: s represents frequency domain, K _pBe proportional gain; K _iBe storage gain; λ is the integration order; ω _cBe shearing frequency; φ _mBe phase margin; A=1-T ₂ω _c ²B=T ₃ω _c-T ₁ω _c ³

$M={{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)+{\mathrm{\ω}}_c\cos \left(\frac{\mathrm{\λ\π}}{2}\right)\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{c}L+{\mathrm{\φ}}_m);$

T ₂, T ₁, T ₃, L is constant, A, B, M,

Y is as the replacement of formula.

Further, servo system control method provided by the invention can also have such feature: initialize signal acquisition unit and correction section all are by with K _p, K _i, and the value of λ bring function into

Obtain initial control signal and action control signal, in this function, s represents frequency domain, and initial control signal and action control signal are namely drawn by this frequency domain.

Further, servo system control method provided by the invention can also have such feature: λ for (0,2] any real number in the scope.

Invention effect and effect

Servo system controller provided by the invention is having two adjustable parameter K _p, K _iPrerequisite under, an integration order λ is arranged again, adjust parameter K _p, K _iNumerical value can improve the response speed of servo-drive system, the dynamic perfromance of improvement system, eliminate the systematic steady state error, increase again an adjustable parameter λ, can improve again the stable state accuracy of servo-drive system, three parameters cooperate to adjust can increase Systems balanth greatly, can also satisfy the demand of system robustness simultaneously.Therefore the design of the method is more flexible, and control performance is more superior, has also been obtained good control by the precision of its servo-drive system, and is simple to operate, easily row.

Description of drawings

Fig. 1 is the control schematic diagram of the present invention's servo system controller in an embodiment;

Fig. 2 is the composition schematic diagram of the present invention's initialize signal acquisition unit in an embodiment;

Fig. 3 is the composition schematic diagram of the present invention correction section in an embodiment;

Fig. 4 is the control flow chart of the present invention's servo system controller in an embodiment.

Embodiment

Fig. 1 is the control schematic diagram of the servo system controller in the present embodiment.As shown in Figure 1, a kind ofly satisfy servo-drive system 10 and can either have the servo system controller (being the FOPI controller) that stable precision can improve again system robustness and dirigibility and have: servo parameter storage part 1, calculation of parameter section 2, initialize signal acquisition unit 3, feedback detecting means 4, correction section 5.Obviously, selected control object is servo-drive system in the present embodiment, and namely servo system controller also can be called servo system controller.

Store the shearing frequency ω of servo-drive system 10 in the servo parameter storage part 1 _c, target action, phase margin φ _mDeng the unique characteristics parameter.

Calculation of parameter section 2 calculates respectively storage gain K according to shearing frequency and phase margin _i, proportional gain K _pWith integration order λ.

Fig. 2 is the composition schematic diagram of the initialize signal acquisition unit in the present embodiment.As shown in Figure 2, initialize signal acquisition unit 3 is made of initialize signal forming portion 31 and initialize signal converter section 32, wherein, initialize signal forming portion 31 is obtained the initialize signal of controlling its initial actuating when the described servo-drive system starting state according to storage gain, proportional gain and integration order; Initialize signal converter section 32 is converted to the corresponding initial control signal that servo-drive system can receive with initialize signal, and servo-drive system 10 begins action according to this initial control signal.

Feedback detecting means 4 is used for responding to the action of servo-drive system and sends corresponding action feedback signal according to this action.

Fig. 3 is the composition schematic diagram of the present invention correction section in an embodiment.As shown in Figure 3, correction section 5 has feedback signal converter section 51, deviation calculating part 52, deviation correcting signal acquisition unit 53, deviation correcting signal converter section 54 formations are next obtains the action deviation correcting signal of correcting servo-drive system according to action feedback signal, target working value and storage gain, proportional gain and integration order.

Feedback signal converter section 51 will move feedback signal and be converted to the actual act value; Deviation calculating part 52 calculates the action deviation of servo-drive system according to actual act value and target working value; Deviation correcting signal acquisition unit 53 is obtained the corrective control signal of control servo-drive system action correction according to action deviation and differential radix, scale base and integration order; Deviation correcting signal converter section 54 is converted to the corresponding action deviation correcting signal that servo-drive system can receive with this corrective control signal.

Central processing unit 100 is coordinated the work between all parts.

Initialize signal converter section 32 in the present embodiment and deviation correcting signal converter section 54 be same servoamplifier just initialize signal be enlarged into initial control signal, corrective control signal is enlarged into the action deviation correcting signal.

In sum, this servo system controller is at first according to the nonlinear organization of servo-drive system, establishes the model of servo-drive system; Design for servo-drive system open-loop gain robustness FOPI controller parameter setting method design concept and then; For the nonlinear operation characteristic of servo-drive system, use the FOPI controller and realize up-to-date servo system control method at last.

Wherein, the calculation of parameter radicals by which characters are arranged in traditional Chinese dictionaries obtained about K by following parameter tuning equation before this _p, K _i, three parameters of λ relational expression.

If the controlled system transport function is:

T in the formula ₁, T ₂, T ₃, L is constant.

For the open-loop gain robustness of servo-drive system, the parameter tuning method design concept of FOPI controller is:

Arg[G(jω)]=Arg[C(jω _c)P(jω _c)]=-π+φ _m （a）

|G(jω _c)| _dB=|C(jω _c)||P(jω _c)| _dB=0 （b）

${\left(\frac{d\left(\mathrm{Arg}\right[C\left(j{\mathrm{\ω}}_c\right)P\left(j{\mathrm{\ω}}_c\right)\left]\right)}{\mathrm{d\ω}}\right)}_{\mathrm{\ω}={\mathrm{\ω}}_c}=0---\left(c\right)$

Wherein, φ _m-phase margin, ω _c-shearing frequency.

By above relational expression, through numerical evaluation, can try to achieve three parameter K of controller _p, K _i, λ relational expression as follows:

$K_i=\frac{-\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{C}L+{\mathrm{\φ}}_m)}{M}---\left(4\right)$

$K_p=\sqrt{\frac{A^2+B^2}{{(1+K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\cos \left(\frac{\mathrm{\λ\π}}{2}\right))}^2+{\left(K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)\right)}^2}}---\left(6\right)$

Wherein: K _pBe proportional gain; K _iBe storage gain; λ is the integration order; ω _cBe shearing frequency; φ _mBe phase margin; A=1-T ₂ω _c ²B=T ₃ω _c-T ₁ω _c ³

$M={{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)+{\mathrm{\ω}}_c\cos \left(\frac{\mathrm{\λ\π}}{2}\right)\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{c}L+{\mathrm{\φ}}_m);$

A, B, M,

Y is as the replacement of formula.

By above relational expression, through numerical evaluation, can try to achieve three parameter K of controller _p, K _i, λ.

Wherein, the transport function of FOPI controller is:

Initialize signal acquisition unit 3 and correction section 5 all are by with K _p, K _i, λ value bring function into

Obtain described initial control signal and described action control signal, in this function, s represents frequency domain, and described initial control signal and described action control signal are namely drawn by this frequency domain.

In this calculation of parameter section, the value characteristics of λ are to get any real number, also can be plural number, in the present invention the optimum valuing range with λ be (0,2] any real number.Because the parameter value characteristics of this FOPI controller, its application scenario is also very broad, both can be used for control integer rank system, also can be used for the control new fractional-order system, and namely this FOPI controller has good application flexibility.

Fig. 4 is the control flow chart of the present invention's servo system controller in an embodiment.As shown in Figure 4, the job step of this FOPI controller is:

S1: calculate K according to above-mentioned formula and shearing frequency by calculation of parameter section _p, K _i, λ.

S2: initialize signal forming portion 31 is according to K _p, K _i, and λ obtain initialize signal;

S3: servoamplifier is converted to initial control signal with initialize signal;

S4: servo-drive system 10 begins action according to this initial control signal;

S5: the action feedback signal of servo-drive system is responded to and sent to feedback detecting means 4;

S6: feedback signal converter section 51 will move feedback signal and be converted to the actual act value;

S7: deviation calculating part 52 calculates the action deviation of servo-drive system;

S8: deviation correcting signal acquisition unit 53 is obtained the corrective control signal of control servo-drive system action correction;

S9: servoamplifier 54 is enlarged into the action deviation correcting signal with corrective control signal;

S10: servo-drive system 10 realizes precisely action according to this action deviation correcting signal real-time deviation correcting.

The FOPI controller is proofreaied and correct difference signal in real time, makes the execution action of worktable reach perfect condition.

Embodiment effect and effect

The FOPI controller that provides in the present embodiment and control method thereof have two adjustable parameter K _p, K _iPrerequisite under, an integration order λ is arranged again, adjust parameter K _p, K _iNumerical value can improve the response speed of servo-drive system, the dynamic perfromance of improvement system, eliminate the servo-drive system steady-state error, increase again the stable state accuracy that an adjustable parameter λ improves servo-drive system, three parameters cooperate to adjust can increase Systems balanth greatly, can also satisfy the demand of system robustness simultaneously.Therefore, design more flexibly, control performance is more superior, has also been obtained good raising by the precision of the servo-drive system of its control, and is simple to operate, easily row.

Claims (10)

1. a servo system controller of controlling servo-drive system is characterized in that, comprising:

The servo parameter storage part stores the shearing frequency of described servo-drive system, phase margin, target working value;

Calculation of parameter section calculates respectively storage gain, proportional gain and integration order according to the described shearing frequency in the described servo parameter storage part and described phase margin,

The initialize signal acquisition unit is obtained the initial control signal of controlling its initial actuating when the described servo-drive system starting state according to described storage gain, described proportional gain and described integration order, and described servo-drive system begins action according to this initial control signal;

The feedback detecting means is responded to the action of described servo-drive system and is sent corresponding action feedback signal according to this action;

Correction section, obtain the action deviation correcting signal of correcting described servo-drive system according to described action feedback signal, described target working value and described storage gain, described proportional gain and described integration order, described servo-drive system guarantees the accurate of described servo-drive system action according to this deviation correcting signal adjustment action.

2. servo system controller according to claim 1 is characterized in that:

Wherein, described storage gain, described proportional gain and described integration order by choosing servo system models are respectively

The following relational expression that form draws calculates:

$K_i=\frac{-\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{C}L+{\mathrm{\φ}}_m)}{M}---\left(4\right)$

$K_p=\sqrt{\frac{A^2+B^2}{{(1+K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\cos \left(\frac{\mathrm{\λ\π}}{2}\right))}^2+{\left(K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)\right)}^2}}---\left(6\right)$

Wherein: s represents frequency domain, K _pBe described proportional gain; K _iBe described storage gain; λ is described integration order; ω _cBe described shearing frequency; φ _mBe described phase margin; A=1-T ₂ω _c ²B=T ₃ω _c-T ₁ω _c ³

$M={{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)+{\mathrm{\ω}}_c\cos \left(\frac{\mathrm{\λ\π}}{2}\right)\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{c}L+{\mathrm{\φ}}_m);$

T ₂, T ₁, T ₃, L is constant, A, B, M,

Y is as the replacement of formula.

3. servo system controller according to claim 2 is characterized in that:

Wherein, described initialize signal acquisition unit and described correction section all are by with K _p, K _i, and the value of λ bring function into

Obtain described initial control signal and described action control signal, in this function, s represents described frequency domain, and described initial control signal and described action control signal are namely drawn by this frequency domain.

4. servo system controller according to claim 2 is characterized in that:

Wherein, described λ be (0,2] any real number in the scope.

5. servo system controller according to claim 1 is characterized in that, wherein, described deviation correcting signal acquisition unit has:

The feedback signal converter section is converted to the actual act value with described action feedback signal;

The deviation calculating part calculates the action deviation of described servo-drive system according to described actual act value and described target working value;

The deviation correcting signal acquisition unit is obtained the corrective control signal of the described servo-drive system action of control correction according to described action deviation and described storage gain, described proportional gain and described integration order;

The deviation correcting signal converter section is converted to the corresponding described action deviation correcting signal that described servo-drive system can receive with described this corrective control signal.

6. servo system control method of controlling servo-drive system is characterized in that:

Be provided with shearing frequency, phase margin, target working value that the servo parameter storage part stores described servo-drive system;

Adopt calculation of parameter section to calculate respectively storage gain, proportional gain and integration order according to the described shearing frequency in the described servo parameter storage part and described phase margin,

Adopt the initialize signal acquisition unit to come to obtain the initial control signal of controlling its initial actuating when the described servo-drive system starting state according to described storage gain, described proportional gain and described integration order, described servo-drive system begins action according to this initial control signal;

Adopt the feedback detecting means to respond to the action of described servo-drive system and send corresponding action feedback signal according to this action;

Adopt correction section to come to obtain the action deviation correcting signal of correcting described servo-drive system according to described action feedback signal, described target working value and described storage gain, described proportional gain and described integration order, described servo-drive system guarantees the accurate of described servo-drive system action according to this deviation correcting signal adjustment action.

7. servo system control method according to claim 6 is characterized in that, wherein, and described deviation correcting signal acquisition unit:

Adopt the feedback signal converter section that described action feedback signal is converted to the actual act value;

Adopt the deviation calculating part to calculate the action deviation of described servo-drive system according to described actual act value and described target working value;

Adopt the deviation correcting signal acquisition unit to come to obtain the corrective control signal of the described servo-drive system action of control correction according to described action deviation and described storage gain, described proportional gain and described integration order;

Adopt the deviation correcting signal converter section that described this corrective control signal is converted to the corresponding described action deviation correcting signal that described servo-drive system can receive.

8. servo system control control method according to claim 6 is characterized in that:

Wherein, described storage gain, described proportional gain and described integration order by choosing servo system models are respectively

The following relational expression that form draws calculates:

$K_i=\frac{-\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{C}L+{\mathrm{\φ}}_m)}{M}---\left(4\right)$

$K_p=\sqrt{\frac{A^2+B^2}{{(1+K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\cos \left(\frac{\mathrm{\λ\π}}{2}\right))}^2+{\left(K_i{{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)\right)}^2}}---\left(6\right)$

Wherein: s represents frequency domain, K _pBe described proportional gain; K _iBe described storage gain; λ is described integration order; ω _cBe described shearing frequency; φ _mBe described phase margin; A=1-T ₂ω _c ²B=T ₃ω _c-T ₁ω _c ³

$M={{\mathrm{\ω}}_c}^{-\mathrm{\λ}}\sin \left(\frac{\mathrm{\λ\π}}{2}\right)+{\mathrm{\ω}}_c\cos \left(\frac{\mathrm{\λ\π}}{2}\right)\tan (\arctan \frac{B}{A}+{\mathrm{\ω}}_{c}L+{\mathrm{\φ}}_m);$

T ₂, T ₁, T ₃, L is constant, A, B, M,

Y is as the replacement of formula.

9. servo system control method according to claim 6 is characterized in that:

Wherein, described initialize signal acquisition unit and described correction section all are by with K _p, K _i, and the value of λ bring function into

Obtain described initial control signal and described action control signal, in this function, s represents described frequency domain, and described initial control signal and described action control signal are namely drawn by this frequency domain.

10. servo system control method according to claim 6 is characterized in that:

Wherein, described λ be (0,2] any real number in the scope.

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