伺服系统速度环控制参数自整定方法研究

Research on Speed Control Parameters' Auto-tuning Methods of Servo System

为了能够获得伺服系统的最优性能,必须寻找一种高效实用的伺服速度环控制参数自动整定方法。通过坐标轮换方法对一阶惯性滞后模型的PID控制参数进行寻优,可以得到对应不同特征模型的最优控制参数。利用最优控制参数集合,运用曲线拟合的方法,获取了一组基于一阶惯性滞后模型特征值的最优参数整定公式,根据得到的整定公式,设计了一种伺服速度环控制参数的自整定方法,并进行了实时仿真研究。结果表明:提出的速度环控制数自整定方法能够高效获得整定结果。

In order to get the optimal performance of the servo system, a practical high-performance auto-tuning method to tune servo speed loop＇s control parameters should be found out. Coordinate rotation optimization method was used to optimize the control parameters of the object of the first order lag plus inertial. A set of optimal parameter tuning formula based on the charac- teristics parameters of the object approximate model is obtained by using the optimal control parameters and the curve fitting meth- od. AC servo system control parameters self-tuning algorithm model is designed based on the tuning formula and real-time simula- tion is conducted to a practical servo system parameters self-tuning process. The results showed that the proposed parameters＇ selftuning method of servo speed control loop can obtain the tuning results efficiently.