Based On PDF Algorithm Of Variable Load Mechanical And Electrical Servo Control Simulation And Control To Realize

In Mechanical-Electronic control system, varied-load feature mainly expresses the abrupt change for load and moment of inertia, as well as the mechanical resonance oscillation and so on. It improves the control difficulty and complexity for high performance control of mechatronics system due to these nonlinear change characteristic.In the field of mechanical-electronic control, the traditional PID is in a dominant position. However, the traditional PID control algorithm faces more and more limitation when the controlled objects possess sever nonlinear characteristic with varied-load feature. It is necessary to involve a new control strategy so as to reach more high control performance.In the thesis, a control strategy, called PDF/SV(Pseudo Differential Feedback/Subvariable Control) are proposed to involve in the kind of case so as to obtain the more high control performance. Firstly, two different methods to describe the varied-load object are developed, namely, modeling with mathematic model and modeling with dynamics simulation model. In the dynamics simulation model method, the3D model was designed and involved in the ADMAS software platform. It is used to simulate real load change and object motion in the entire control process. Based on these simulations, a corresponding load feature satisfied the motion requirement of object is obtained. An union control simulation model combined control algorithm from MATLAB platform and dynamics object from ADAMS platform is established so as to provide the further research, achieve current loop and speed loop feedback control. Secondly, the digital controller based on PDF/SV algorithm were designed and applied. Finally, a set of real experiment environment was developed so as to test and verify the control performance with different control strategies and algorithm. In order to achieve the combination of theory and practice effectively, an experiment platform is established and used to validate the control performance.It is indicated that the PDF/SV control strategies advantage over the traditional PID control in comprehensive control performance to a certain extent, especially in control accuracy, anti-interference feature as well as robustness under the varied-load object to a certain degree based on the simulation result and experiment verification.