全闭环伺服驱动系统位置控制通信延时补偿技术

doi:10.19595/j.cnki.1000-6753.tces.201336

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Abstract The modernized numerical system usually adopts the concept that the computerized numerical control is responsible for computation and the servo driver is responsible for the execution. There is an inevitable communication delay between the two, especially in the high-speed feeding occasions. In order to avoid the overshot and control accuracy deterioration caused by communication delay, the delay issues in full-closed loop control are studied in detail. First, based on the dual-position feedback control structure, the servo driver system model integrating the communication delay is established, and the influence of communication delay on system stability is analyzed by the frequency root locus analysis method. For a better communication delay compensation, the Smith predictor is researched and designed accordingly, and its model mismatch problem is analyzed. Accordingly, the model error sources are summarized. Finally, the communication disturbance observation compensation strategy is designed combined with the disturbance observer theory, which solves the model mismatch problem in communication delay and improves the feasibility and simplicity of the delay compensation. The effectiveness of the proposed algorithm is verified by simulation.

Key words： Servo drive system full-closed loop control communication delay compensation

Received: 09 October 2020

PACS:

TM341

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	Articles by authors
	Ni Qinan
	Yang Ming
	Li Yunsong
	Xu Dianguo

Cite this article:

Ni Qinan,Yang Ming,Li Yunsong等. Communication Delay Compensation Technology of Full-Closed Loop Position Control for Servo Drive System[J]. Transactions of China Electrotechnical Society, 2022, 37(10): 2513-2522.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.201336 OR https://dgjsxb.ces-transaction.com/EN/Y2022/V37/I10/2513

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