永磁伺服系统转速跟踪控制与数据驱动的参数设计方法

doi:10.19595/j.cnki.1000-6753.tces.230163

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Abstract

The servo system is also called a follow-up system, which is a feedback control system used to accurately follow or reproduce a process. So that the position, orientation, state, and other controlled output variables of the object can follow the arbitrary changes of the input target (or given value). Because the servo system can achieve precise speed and position control in a wide range, it is generally used in occasions that require high system performance, such as industrial production, military defense security, and many other fields. With the improvement of manufacturing technology of permanent magnet materials, the permanent magnet servo system has also been developed rapidly, and the control performance has also been improved. However, the traditional speed control strategy in the servo system still has the problem of amplitude and phase deviation in the low-frequency band, which reduces the precision of speed tracking control.
In order to improve the speed tracking accuracy of the servo system in the full speed range, a high-precision speed tracking control strategy and a data-driven parameter design method are proposed. Firstly, a lag-lead compensator is connected in series in the speed control link to correct the amplitude and phase of the low-frequency band. This is expected to make the corrected amplitude and phase shift tend to zero, to improve the speed tracking accuracy. Secondly, considering that it is still difficult to avoid performance degradation when the system parameters are not matched, it is necessary to optimize the parameters of the compensator. Based on this, a data-driven parameter optimization design method was designed to minimize the amplitude and phase errors after low-frequency compensation and constrain the maximum value gain and phase shift of the compensator in the full-frequency band. Thirdly, to further improve the adaptability of parameters, according to the simulation or experimental data, the actual amplitude gain and phase shift of the system in the low-frequency band is obtained. And then the parameters of the lag-lead compensator are continuously optimized based on the feedback junction so that the compensated amplitude gain and phase shift have the minimum mean square error. Compared with the traditional methods, the designed lag-lead compensator and parameter optimization method can be more matched with the actual system, so that it can better cope with the negative effects caused by uncertain factors such as the mismatch of the moment of inertia in the actual system.
The experimental results show that the compensator designed based on experimental data has a speed tracking error of less than 2 r/min in the low-frequency range where the speed instruction frequency is less than 1 rad/s, which significantly improves the speed control accuracy compared with the traditional method. And the control effect of this method is equivalent to that of the traditional method when tracking the speed step command, which shows that the proposed method does not affect the dynamic characteristics of the servo system.
The analysis conclusion indicates that the proposed method can improve the tracking performance in the low-frequency band while maintaining the original amplitude-frequency and phase-frequency characteristics of the control system in the middle and high-frequency bands. This is conducive to improving the speed tracking accuracy of the servo system in the full speed range and promoting the engineering application of the permanent magnet servo system.

Key words： Permanent magnet servo system speed control lag-lead compensator data-driven parameter optimization

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TM351

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	Lian Chuanqiang
	Guo Liyuan
	Xu Guanda
	Xiao Fei
	Zhang Weiwei

Cite this article:

Lian Chuanqiang,Guo Liyuan,Xu Guanda等. Speed tracking control strategy and data-driven parameter design method of permanent magnet servo system[J]. Transactions of China Electrotechnical Society, 0, (): 8922-.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.230163 OR https://dgjsxb.ces-transaction.com/EN/Y0/V/I/8922

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