Servo system position controller setting method considering time lag
The invention provides a servo system position controller setting method considering a time lag. A position controlled object gain and a retardation coefficient are calculated according to a speed ring gain, a speed ring time constant, a total transmission ratio of a motor to an execution mechanism...
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Format: | Patent |
Sprache: | eng |
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Zusammenfassung: | The invention provides a servo system position controller setting method considering a time lag. A position controlled object gain and a retardation coefficient are calculated according to a speed ring gain, a speed ring time constant, a total transmission ratio of a motor to an execution mechanism end, a position feedback coefficient, and servo system delay link delay time of a servo system; a cut-off frequency of a servo system, an integral time constant of a position PI controller, a proportional gain of the position PI controller, and a position error are calculated successively; and then an output of the position PI controller is obtained finally. The invention provides a parameter setting and calculating method of a position controller having a delay link of a servo system; the influence on delay time can be eliminated; and robustness of the servo system is improved. |
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