基于最大相位裕度的位置伺服系统设计

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Abstract

For those position servo systems having time delay element, a design method is presented that the system possesses maximum phase margin under the same length of mid-frequency interval. Open loop gain crossover frequency is determined by letting the derivative of phase to angular frequency to zero. As a result, characteristics of phase margin and gain crossover frequency versus mid-frequency interval width are obtained. A new design method of position controller parameters is given and the designed system dynamic performance can be within the expected range. The robustness to open loop gain variation can be improved significantly. Moreover, in order to guarantee the servo system tracking precision, feedforward compensation to the servo system with time delay is executed. Through establishing position differential observer, numerical feedforward compensation with high signal to noise ratio is achieved. At last, a control platform based on permanent magnet synchronous motor (PMSM) position servo system is developed. Simulation and experimental results verify the effectiveness of the proposed approach, which can also apply to industry process control.

Key words： Phase margin position servo system position controller permanent magnet synchronous motor feedforward compensation

Received: 26 January 2014 Published: 30 October 2015

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TM341

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	Li Changhong
	Chen Mingjun
	Han Yaopeng

Cite this article:

Li Changhong,Chen Mingjun,Han Yaopeng. Design of Position Servo System Based on Maximum Phase Margin[J]. Transactions of China Electrotechnical Society, 2015, 30(20): 10-20.

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http://dgjsxb.ces-transaction.com/EN/ OR http://dgjsxb.ces-transaction.com/EN/Y2015/V30/I20/10

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