High-damping Position Control in Elasticity Servo System
The traditional three-loop position control applied in the servo system with elasticity causes residual vibration around the objected position and has long trailing time.To address this issue,a mathematical model of the two-inertia system was established,and the causes of low-damping of the traditional position closed-loop structure were analyzed in detail.It was proposed to modify the speed loop structure combined with resonance-ratio control to guarantee the high-damping of the closed-loop system.The controller parameters were designed by use of the equal real part design,zero-pole elimination and polynomial method to achieve the high-damping characteristics.Simulation results show that the proposed high-damping position control can well suppress the fluctuation,achieve smooth position tracking,significantly reduce the trailing phenomenon compared with traditional P-PI method.
万方数据
维普
