Development Of Self-tuning Servo Adjustment Platform Of Speed Loop Control Parameters Based On EtherCAT Communication

With the development of industrial automation,the application of servosystem is more and more widely used.In the actual engineering,the speed loop acts as an intermediate of servo control and its parameter is important to the performance of the servosystem.Because the servosystem is a non-linear system with strong coupling,it is difficult to obtain the better parameters with traditional adjustment method.Therefore,in order to improve efficiency and adaptability,a servo self-tuning platform of speed loop which based on frequency response is designed.Combining with the difference of the manual and the automatic method,the demands of tuning algorithm,communication interface and tuning software are analyzed.Then the overall architecture of each part is designed.Finally,the key words are summarized.After collecting the current command which is designed by the pseudo-random binary algorithm and the feedback speed,the welch identification method is used to identify parameter.Combining with the analysis of evaluation index for time domain performance and open-loop amplitude-frequency characteristics,a speed-loop tuning model is designed which is verified through simulation analysis and experiment.Based on the Ether CAT master which established by the SOEM framework,the conversion structure and storage structure of the parameters are established.Combining with power driver system state,the periodic control interface of the servosystem is designed through the periodic and aperiodic communication.Using QT framework,the software interface,interaction logic and data visualization are designed.Combining with the self-tuning algorithm,communication interface and calculation program,the software realizes the functions of sampling,calculating control parameter and identification which is based on the framework for identification and the mixed communication of TCP and shared memory.In the end,after collecting operating data of system,identifying system attributes and adjusting the control parameter,the responsiveness is enhanced and velocity fluctuation is reduced for secondary quality system and single motor system,thus the servo adjustment platform of availability is verified.