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Research On Servo Control Method Based On NJ-Series Control System

Posted on:2017-02-19Degree:MasterType:Thesis
Country:ChinaCandidate:Z H ChenFull Text:PDF
GTID:2308330485478456Subject:Control engineering
Abstract/Summary:PDF Full Text Request
With the development of science and technology, advanced automatic control technology is changing rapidly. It not only provides great support for modern industrial production and development, but also provides technical support for the improvement of human living standards, in which, servo control technology plays an important role in the automatic control system. This technology takes the position and velocity of moving parts as control quantities through a feedback loop for control purposes which have the advantages such as high precision, fast response, large output power and flexible signal processing. Control algorithm is the basis of servo control technology realizing.The new generation controller NJ series made by OMRON, as a PLC controller with its own internal servo motion control module, it is powerful in motion controlling. However, as far as the PID controller used inside is concerned, although its algorithm is simple and easy to implement, it does not always give good control effect, what is more, its scheme of parameter adjustment does not have the adaptability and thus It is easy to cause the controlled system to be unstable when the parameters of system are changed. Therefore, it is important to discuss the new control algorithm.This paper introduces the mainly hardware and some of their basic parameters, as well as system software of NJ series servo motion control system, and also details the operational principle of NJ series servo motion control system with the part of its hardware. The main research content of this paper is as follows:by employing the mathematical model of permanent magnet synchronous servo motor (PMSM) used in NJ series system, the vector control technique is discussed under the direct axis current id=0 and id≠0, respectively. The smoothly nonlinear control algorithm is proposed in this paper based on the state space dynamic equation of servo motor; the digital pole placement method is used to design the adaptive PID controller for the current loop in PMSM under id= 0, in addition, the generalized predictive adaptive control method is utilized to design the controller for the speed loop. With the experimental data extracted from NJ series servo motion control system; finally, by using Matlab, some numerical simulation compared with usual PID is given to verify the validity of the methods in this paper. The simulation experiments show that the adaptive controller based on improved generalized predictive not only has adaptability, but also has a very strong capacity of resisting disturbance compared with usual PID controller. However, limited by experimental conditions, the advantages of the method in this paper have not be experimentally demonstrated by NJ controller instrument.
Keywords/Search Tags:NJ series servo motion control system, Permanent magnet synchronous servo motor, current loop, speed loop, pole placement PID controller, improved generalized predictive adaptive controller
PDF Full Text Request
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