Precision Closed-loop Servo System

With the development of technology nowadays, it is realized that the progress of one country's electromechanical integration technology indicates its mechanical industry level. Compared with the developed countries, our electromechanical integration technology is under developed. Motion control technology is the core integral part of electromechanical integration technology. It is an important task to research on motion control technology, grasp the newest trends and raise the level of our motion control technology. Motion control is also a great task in front of us. This thesis introduces the concept of motion control, expatiates the components of motion control system and analyzes the development of motion control technology. And make a deep research on the key technologies of motion control. The main content includes the following.1) Started from the mathematical model of permanent magnetism synchronous servo motion the research gradually goes deep into the controller of the servo system and the entire system. The sliding mode control is used in the design of the outside loop of PMSM based on decoupling state equation of it. In addition, the sliding line is extended to a full sliding trajectory control incorporating acceleration, constant speed, and deceleration segments. The simulation and experiment results show that the sliding mode control provides well speediness and no position overshoot. At the same time, it also enhances the precision and robustness of the system.2) Optimizing the trajectory planning algorithm helps to improve the speed and the precision of the motion control system. This paper has a research on T - velocity curve, S -velocity curve. And proposes a new E-velocity curve, analyzes the property of three curves in detail and get the acceleration, velocity, displacement curve via Matlab 6.5 for every algorithm. Aiming at multi-axes motion system, the paper also introduces liner and circular interpolation. At last the precision of the multi-axes system is analyzed.3) The open motion control system is the trend for the entire motion control field. The core part in open motion control is motion controller. The paper introduced the programmable multi-axes controller and researched on the PID + velocity/acceleration feedforword algorithm. The parameters of the controller are adjusted via the software PEWIN. Through this the precision and speed of both stability and dynamic in position system is improved.4) In order to raise the precision of the half closed position system the paper firstly presents the elements and principles of half closed loop system, analyzes the reasons of positioning errors. And it improves the positioning precision by the way of error comprehension. It is shown by experiments done with the AC-200 equipment that the positioning precision can be greatly improved by this way.