Software Design Dc Torque Motor Servo System And MFAC Control Algorithm Implementation

In recent years,servo control system has become more and more widely used in all walks of life with the rapid development of industrial control industry.The servo control system control performance requirements are further improved with the increase of industrial production demand,and motor control as a servo control system research focus has been further widely concerned.In recent years,many modern intelligent control algorithms have been applied to servo control systems,but the research work of validation platform in control algorithm and engineering validation is less.Therefore,a verification platform is designed by Yong Guang 70LY53 DC torque motor in this paper,and the research work is carried out based on this verification platform.The main research work can be summarized as follows:(1)Model-free adaptive control is widely used in servo control system,so this paper designs an upper computer control software based on the designed verification platform and model-free adaptive control algorithm.Combined with the validation platform and control software,the experimental verification of model-free adaptive control and PID control strategies is carried out.The experimental results show that the strategies based on the model-free adaptive control algorithm have better dynamic performance and disturbance rejection performance in the start-up stage and the steady-state condition under load disturbance of the control system.(2)Multi-motor cooperative control system is also a research hotspot in servo control system.At present,the relative coupling control structure is the most widely used multi-motor control structure,but it also has some problems,such as large on-line calculation of speed compensator,large overshoot and large synchronization error during the motor starting process.Therefore,this paper proposes an improved relative coupling control structure,which simplifies the speed compensator and introduces a differential negative feedback compensation in the speed controller to make the controller desaturate in advance for the problem of large overshoot in the starting stage.At the same time,the compensator is also introduced into the current loop controller,which further improves the cooperative performance of the system.Finally,the effectiveness and feasibility of the proposed improved structure are verified by simulation.(3)Due to the influence of working conditions and operating environment,the servo motor itself has certain nonlinearity,its nonlinearity will further enlarge the synchronization error especially in the multi-motor cooperative control system.In this paper,in order to further analyze the cooperative performance of the improved structure under the condition of nonlinear factors of the motor itself,some time variability was added to the parameters of the motor model,and the full form dynamic linearization model-free adaptive control algorithm and PID control algorithm were used for simulation verification based on the improved structure.The simulation results show that the full form dynamic linearization model-free adaptive control strategy has good cooperative performance when the motor model parameters are time-varying.