首页> 外国专利> SERVO CONTROL METHOD BY THE DISTURBANCE ESTIMATION OBSERVER

SERVO CONTROL METHOD BY THE DISTURBANCE ESTIMATION OBSERVER

机译:扰动估计观测器的伺服控制方法

摘要

A servo control method which, even in the case of a machine having a large variation in inertia, makes it possible to properly estimate and remove disturbance by the disturbance estimation observer so that the machine exhibits improved immunity against disturbance. An estimated disturbance (x) is found based on the actual instruction (I-y') and the actual motor speed (v) by a disturbance estimation observer(5) equipped with four transfer elements (51 to 54) that have transfer functions (Kt/Jm,K1,K2/S,1/S)determined by values corresponding to torque constant(Kt), inertia(Jm) and parameters(K1, K2). The gain is adjusted by the transfer element(3) and high-frequency components are removed by the filter (4), whereby a corrected estimation disturbance (y') is found. A servo motor is driven by the actual instruction current obtained by subtracting a corrected estimation disturbance from the instruction current (I), so that the effect of disturbance is removed. The parameter (jm) of transfer functions (3,51) is variably set depending upon a change in the inertia of the machine that stems from a change in the operation condition of the machine, and disturbance is properly estimated and is removed even when the inertia varies to a greater extent.
机译:一种伺服控制方法,即使在机器的惯性变化较大的情况下,也可以通过干扰估计观测器适当地估计和消除干扰,从而使机器具有更好的抗干扰性。干扰估计观测器(5)根据实际指令(I-y')和实际电动机速度(v)找到估计的干扰(x),该干扰估计观测器(5)配备有四个具有传输功能的传输元件(51至54)( Kt / Jm,K1,K2 / S,1 / S)由对应于转矩常数(Kt),惯性(Jm)和参数(K1,K2)的值确定。通过传输元件(3)调节增益,并通过滤波器(4)去除高频分量,从而找到校正后的估计干扰(y')。通过从指令电流(I)中减去校正后的估计干扰而获得的实际指令电流来驱动伺服电动机,从而消除了干扰的影响。传递函数(3,51)的参数(jm)取决于因机器的运行状态而引起的机器惯性的变化而可变地设定,并且即使在电机运转时,也可以适当地估计并消除干扰。惯性变化较大。

著录项

相似文献

  • 专利
  • 外文文献
  • 中文文献
获取专利

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号