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CN111684706A - 伺服系统阻力特性获取方法、控制方法和系统及存储装置 - Google Patents

伺服系统阻力特性获取方法、控制方法和系统及存储装置 Download PDF

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Publication number
CN111684706A
CN111684706A CN201880087320.1A CN201880087320A CN111684706A CN 111684706 A CN111684706 A CN 111684706A CN 201880087320 A CN201880087320 A CN 201880087320A CN 111684706 A CN111684706 A CN 111684706A
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CN
China
Prior art keywords
torque
servo system
friction
fitting
servo motor
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Pending
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CN201880087320.1A
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English (en)
Inventor
陶之雨
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Application filed by Shenzhen A&E Intelligent Technology Institute Co Ltd filed Critical Shenzhen A&E Intelligent Technology Institute Co Ltd
Publication of CN111684706A publication Critical patent/CN111684706A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N19/00—Investigating materials by mechanical methods
    • G01N19/02—Measuring coefficient of friction between materials
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

一种伺服系统阻力特性的获取方法、伺服系统的控制方法和控制系统以及存储装置，该伺服系统阻力特性的获取方法包括：将伺服系统设置为速度环控制(S101)；设定第一测试转速，使伺服系统中的伺服电机按第一测试转速工作(S102)；采集第一电磁转矩信号，对第一电磁转矩信号中的交流分量进行频谱分析，提取交流分量中周期性变化谐波的频率(S103)；根据周期性变化谐波的频率，对转矩纹波的曲线进行拟合，得到转矩纹波相对伺服电机转动位置的关系(S104)。可以为伺服系统的补偿控制提供所必需的伺服系统的阻力特性，帮助对伺服系统的输出力矩进行补偿，从而减少或消除系统阻力对伺服系统的输出造成的影响。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN201880087320.1A 2018-11-12 2018-11-12 伺服系统阻力特性获取方法、控制方法和系统及存储装置 Pending CN111684706A (zh)

Applications Claiming Priority (1)

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PCT/CN2018/115088 WO2020097769A1 (zh) 2018-11-12 2018-11-12 伺服系统阻力特性获取方法、控制方法和系统及存储装置

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CN111684706A true CN111684706A (zh) 2020-09-18

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WO (1) WO2020097769A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112464400A (zh) * 2020-11-20 2021-03-09 南京工程学院 基于库伦摩擦和黏性摩擦的径向驻波型超声波电机转矩转速特性的计算方法
CN113179073A (zh) * 2021-06-16 2021-07-27 国华(青岛)智能装备有限公司 一种提高位置精度的电机控制器及控制方法
CN115900822A (zh) * 2022-11-25 2023-04-04 湖南电气职业技术学院 一种应用于伺服电机的测试系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101515778A (zh) * 2009-04-03 2009-08-26 哈尔滨工程大学 无刷直流力矩电机位置伺服系统摩擦力矩自适应补偿方法
CN102269638A (zh) * 2011-04-27 2011-12-07 中国科学院光电技术研究所 伺服转台LuGre模型摩擦参数及转动惯量的一体化测量方法
CN106385206A (zh) * 2016-11-30 2017-02-08 上海卫星工程研究所 高精度伺服控制系统纹波力矩辨识及抑制方法

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* Cited by examiner, † Cited by third party
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CN101846975B (zh) * 2010-05-28 2011-08-17 北京理工大学 带有动态摩擦补偿的伺服系统自适应鲁棒控制器
CN102355193A (zh) * 2011-09-30 2012-02-15 哈尔滨工业大学 交流永磁伺服系统的在线转动惯量辨识装置及辨识方法
CN106385211B (zh) * 2016-10-09 2018-12-14 重庆大学 一种步进电机负载转矩估计方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101515778A (zh) * 2009-04-03 2009-08-26 哈尔滨工程大学 无刷直流力矩电机位置伺服系统摩擦力矩自适应补偿方法
CN102269638A (zh) * 2011-04-27 2011-12-07 中国科学院光电技术研究所 伺服转台LuGre模型摩擦参数及转动惯量的一体化测量方法
CN106385206A (zh) * 2016-11-30 2017-02-08 上海卫星工程研究所 高精度伺服控制系统纹波力矩辨识及抑制方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
谭文斌等: ""应用稳态误差分析辨识LuGre模型参数"" *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112464400A (zh) * 2020-11-20 2021-03-09 南京工程学院 基于库伦摩擦和黏性摩擦的径向驻波型超声波电机转矩转速特性的计算方法
CN112464400B (zh) * 2020-11-20 2024-02-13 南京工程学院 基于库伦摩擦和黏性摩擦的径向驻波型超声波电机转矩转速特性的计算方法
CN113179073A (zh) * 2021-06-16 2021-07-27 国华(青岛)智能装备有限公司 一种提高位置精度的电机控制器及控制方法
CN113179073B (zh) * 2021-06-16 2022-10-11 国华(青岛)智能装备有限公司 一种提高位置精度的电机控制方法
CN115900822A (zh) * 2022-11-25 2023-04-04 湖南电气职业技术学院 一种应用于伺服电机的测试系统

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Application publication date: 20200918