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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摘要现代数控系统通常采用数控装置负责计算、伺服驱动器负责执行的结构理念,二者间的总线数据交互不可避免地存在通信延时,尤其在高速进给的应用场合中,为了避免由通信延时引起的超调及控制精度降低的问题,该文对全闭环数控系统时延问题展开研究。首先,基于双位置反馈控制架构,建立含通信延时的全闭环伺服驱动系统模型,采用频率根轨迹分析方法,分析通信延时对系统稳定性的影响,指出延时补偿的必要性。为了更好地对通信延时进行补偿,研究并设计Smith预估补偿器,分析Smith预估补偿器在应用中存在的模型失配问题,在此基础上,总结模型误差来源。最后,结合扰动观测器理论,设计基于扰动观测器的通信扰动观测补偿策略,解决模型失配问题在通信延时补偿中的影响,提高延时补偿方法的适用性和简易性。通过仿真验证所提算法的有效性。

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	倪启南
	杨明
	李云嵩
	徐殿国

关键词 ：伺服驱动系统, 全闭环控制, 通信延时补偿

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

收稿日期: 2020-10-09

PACS:

TM341

基金资助:国家自然科学基金重大项目《高品质伺服电机系统关键科学问题》子课题《高品质伺服电机系统层级化理论与综合设计方法》（51991385）和国家科技重大专项（2012ZX04001051）资助

通讯作者: 杨明男,1978年生,教授,博士生导师,研究方向为电力电子技术及应用、交流永磁伺服系统和智能控制应用。E-mail: yangming@hit.edu.cn

作者简介: 倪启南男,1991年生,博士,研究方向为电力电子与电力传动。E-mail: niqn_hit@163.com。

引用本文:

倪启南, 杨明, 李云嵩, 徐殿国. 全闭环伺服驱动系统位置控制通信延时补偿技术[J]. 电工技术学报, 2022, 37(10): 2513-2522. Ni Qinan, Yang Ming, Li Yunsong, Xu Dianguo. Communication Delay Compensation Technology of Full-Closed Loop Position Control for Servo Drive System. Transactions of China Electrotechnical Society, 2022, 37(10): 2513-2522.

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