摘要
针对全闭环位置伺服驱动系统中机械弹性和间隙等因素引起的谐振问题,在传统“位置环-速度环-电流环”三环串级比例积分(PI)控制的基础上,提出一种基于速度差状态反馈补偿和陷波器前向抑振相结合的控制结构及设计方法.选用表征电机和负载速度及转角状态变量的速度差进行反馈补偿,采用极点半径及阻尼的自由配置,减少过多的参数设置;同时,考虑到全闭环位置控制引起的极限环振荡频率通常相对较低(不超过反谐振频率),将陷波器处理置于位置控制器后,以减小极限环影响.在相同的电机和负载参数下,搭建了仿真模型和实验平台,并对比了串级PI控制、基于速度差的PI反馈补偿控制和本研究所提控制方法下的位置和速度响应性能.仿真和实验结果表明:所提出的控制方法能有效抑制谐振,进一步提升速度和位置增益,改善全闭环伺服控制性能.
Addressing the resonance problem caused by mechanical elasticity and clearance in a full closed loop position servo drive system,and on the basis of traditional“position loop-velocity loop-current loop”three-loop cascade proportional integral(PI)control,a control structure and design method based on a combination of speed difference state feedback compensation and notch filter forward vibration suppression were proposed.The speed difference representing the motor and load speed and angle state variables was selected for feedback compensation,and free configuration of pole radius and damping were used to reduce excessive parameter settings.Meanwhile,considering that the limit cycle oscillation frequency caused by the full closed loop position control was usually relatively low(not exceeding the anti-resonance frequency),the notch filter was placed behind the position controller to reduce the impact of the limit cycle.Under the same motor and load parameters,a simulation model and experimental platform were built,and the position and speed response performance of cascade PI control,speed difference feedback PI compensation control,and the proposed control method in this study were compared.Simulation and experimental results show that the proposed control method can effectively suppress resonance,further increase speed and position gain,and improve the performance of full closed loop servo control.
作者
雷力
王亚飞
李叶松
LEI Li;WANG Yafei;LI Yesong(School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China;School of Mechanical and Electrical Engineering,Wuhan Polytechnic,Wuhan 430074,China)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2023年第11期14-22,共9页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家科技重大专项资助项目(2018ZX04035-002)。
关键词
伺服控制
全闭环
机械谐振
间隙
状态反馈控制
陷波器
servo control
full closed loop
mechanical resonance
backlash
state feedback control
notch filter
