Modeling And Control Of Large Inertia Load Servo System Dynamics

With the development of modern industrial and aerospace, large inertia load servo system has been developing rapidly, the servo motor drive system power and control accuracy requirements are also increasing. To simplify, motor drive systems which have high-power, high inertia load characteristics, the inertia on the load side is directly translated to the motor side in the traditional drive motor model, the flexibility and its coupling with system movement are ignored. However, with the increases of motor power and load inertia, the influence of flexible deformation for whole movement of the system and dynamics can not be ignored. Therefore, it is necessary to consider the flexible effects of the system when we study high-precision large inertia load system, it has a very important significance.In this paper, a class of large inertia load servo system is treated as the research object, the transmission flexibility, un-modeled dynamics and external disturbance are all considered, the kinetic modeling is researched and adaptive robust controller is designed. The main work includes:Large inertia load transmission system dynamics is analyzed and researched. For the large inertia load servo system, according to Newtonian kinematics a dynamic model based on typical large inertia load servo system is established, according to modal analysis and modal truncation theory a multi-variable dynamics model is established; Large inertia load transmission system dynamics is in-depth analyzed and researched. For the large inertia load servo system, according to Newtonian kinematics a dynamic model based on typical large inertia load servo system is established, according to modal analysis and modal truncation theory a multi-variable system dynamics model is established; For large inertia load servo system with un-modeled dynamics and external disturbance, adaptive robust controller based on Backstepping and MIMO adaptive robust controller are designed respectively, and the performance of designed controllers are verified by simulation; In order to overcome the effects of measurement noise, to further improve the control performance, adaptive robust controllers based on the desired compensation are designed and the performance of designed controllers are verified by simulation; For the actual ECP205inertia test system, adaptive robust controller based on Backstepping and based on the desired compensation are debugged, the asymptotically stable tracking performance of the controllers are verified.