弹性伺服系统高性能位置控制器设计及增益边界分析

doi:10.19595/j.cnki.1000-6753.tces.241047

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Abstract

High-performance servo drives are critical for the quality of industrial production. In traditional servo control schemes, motor position feedback modifies the speed closed-loop transfer function, characterized by two parameters: proportional and integral. For elastic mechanical loads, it is impossible to balance damping and dynamic response within the system. State feedback control (SFC) effectively improves speed dynamic response and suppresses residual vibration. This paper proposes two types of position controller design methods based on state feedback to address the bandwidth restrictions imposed by anti-resonance frequencies in elastic servo systems.
Firstly, the numerator polynomial in the speed proportional-integral (PI) structure has freedom restrictions. The proposed state feedback position control (SFPC) with an integral part combines PI with integral-proportional (IP) for a more flexible zero design. Zero-pole cancellation reduces the order of the closed-loop system, and optimal speed feedforward in the frequency domain improves dynamic performance. Secondly, the state feedback controller without an integral part removes the integral component from the speed loop, where estimated disturbances are compensated on the output torque. The disturbance function is modified with a parameter k_L to provide a high-pass filter characteristic. Zero-pole cancellation is unnecessary for this simplified structure. Furthermore, the gain boundaries of these two SFPCs are analyzed using maximum peak sensitivity, demonstrating that the speed loop without an integral part has a larger gain boundary than the series structure. The maximum gain offers a reasonable guideline for bandwidth selection in practical applications. Finally, the effectiveness of the proposed methods is verified on a tooth belt servo system. The proposed SFPCs have good dynamic response and a wide gain selection boundary.
The following conclusions can be drawn. (1) The proposed SFPC with an integral part reaches the target position faster than the traditional method, with less overshoot and a 44% reduction in settling time. (2) Compared to state feedback speed control cascading a position loop, the response characteristics of the proposed SFPC remain consistent across different gains. (3) The position response of the SFPC with an integral part is in good agreement with the method that includes an integral, which achieves the same positional dynamic response at the same gain. (4) The optional gain boundaries of the two methods differ. The gain of the SFPC with and without an integral can approach 1.4ω_ares with oscillations and 1.8ω_ares without oscillations. The non-integral SFPC increases the gain boundary by 28%.
The proposed SFPC can balance dynamic response and residual vibration, broadening the maximum gain boundary to 1.8ω_ares, which is beneficial for improving servo driver performance under elastic mechanical loads.

Key words： Servo control two-mass system state feedback control gain boundary

Received: 18 June 2024

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TM383.4

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	Articles by authors
	Niu Zenong
	Huang Wenxin
	Bu Feifei
	Zhao Yajun

Cite this article:

Niu Zenong,Huang Wenxin,Bu Feifei等. High-Performance Position Controller Design and Gain Boundary Analysis for Elastic Servo Systems[J]. Transactions of China Electrotechnical Society, 2025, 40(16): 5234-5246.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.241047 OR https://dgjsxb.ces-transaction.com/EN/Y2025/V40/I16/5234

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