Research On Intelligent Parameter-free Debugging Technology Of PMSM Servo System

The AC servo system is widely used in industrial control.In the common mechanical structures such as industrial robots and CNC machine tools,mechanical resonance,interference problems,and poor dynamic follow-up are common.In the commercial servo intelligent control,the intelligent algorithm-free adjustment function can solve the above phenomenon,and complete without human intervention,truly "black box" function.The adjustment-free function can solve the stiffness setting and vibration suppression problems of inertia changes at the same time,and fully demonstrates the technical advantages of the new high-frequency servo system.Therefore,research-free adjustment function is the only way for the development of industrial automation.It has important significance for improving the stability and accuracy of servo control system.This paper proposes a parameter-free commissioning technology that uses on-line identification to determine the system mechanical parameters automatically,match controller stiffness and parameters automatically,and uses the evaluation function and torque,position,and speed thresholds to determine system status in real time.On this basis,turn on the corresponding compensation circuit,and control the compensation coefficient to adjust the compensation feedback strength to obtain a stable high-following servo system.The specific research content is as follows:Firstly,using the Yaskawa sigma7 parameter self-tuning strategy and performance-free adjustment of performance comparison,based on the proposed parameter-free debugging technology of the composite control architecture;and the use of the obtained speed and the current information to identify accurately the system mechanical parameters and mechanical stiffness.Secondly,according to the inertia moment identified by the system,the parameters of the speed loop controller and the position loop controller are set automatically by the self-tuning strategy of the frequency domain method.At the same,based on the closed-loop transfer function of the position loop and the system followability,setting the feedforward gain and acceleration feed forward gain.Then,using the evaluation system proposed by this topic,that is,the evaluation function to determine the system state,according to the torque and position,speed and other instructions and feedback information collected by the sensor,determine whether the corresponding mechanical resonance occurs in the system,whether it needs to improve the position following and Immunity.Finally,turn on the corresponding compensation circuit for different working conditions.If there is a mechanical resonance,the system will automatically initiate the negative feedback of the wheelbase.If the follow ability of the system needs to be improved,the system will turn on the position feedforward circuit if external disturbance occurs,turn on the state observation positive feedback compensation link;then the corresponding control compensation coefficient ?,?,K_g,adjust the compensation feedback strength,and obtain a stable high-following performance servo system.