交流伺服系统脉冲序列位置控制研究

提出了一种针对全数字式交流伺服电机离散控制工作状态下的建模与仿真方法.深入分析了全数字式交流伺服系统的位置脉冲控制工作模式及其表达方式,给出了速度PI控制条件下的全数字式交流伺服电机系统传递函数和系统滞留脉冲传递函数.比较全数字式交流伺服系统对不同周期、不同形状的脉冲控制序列波形响应发现,交流伺服驱动器滞留脉冲造成的速度误差主要与输入脉冲信号的加速度成正比,当速度曲线出现拐点时(加速度突变),速度误差则出现突变,突变的幅度与离散计算的重加速度成正比.这说明如果在运动控制中,必须采用加速度连续变化的加减速控制,才能避免滞留脉冲较大的突变,达到较高的运动控制精度.研究表明,无论速度输入是哪种形式,由模型计算的速度误差与实际测量结果相吻合,证明了提出方法的正确性和实用价值.

Modeling Method for Position Control of Full Digital AC Servo Systems

A new method for modeling full digital AC servo motors in discrete pulse control was proposed.The position pulse control mode and its expression of the full digital AC servo system were analyzed,and in speed PI control the transfer functions of the AC servo system and the sys-tem lag pulse were derived.A comparison of responses of pulse series during different periods and forms of the AC servo system in the simulation and experiment shows that the speed error caused by the system lag pulse is mainly proportional to the acceleration of the input pulse,and as inflex-ion in speed curve(acceleration jump)occurs the speed error jumps with ns amplitude propor-tional to the ierk.To avoid large j ump in speed error and realize high precision motion control,the continuous change of acceleration must be guaranteed in the speed control process.And the compute speed errors well coincide with the experimental results despite of the input signal forms,which verifies the correctness of the presented modeling method.