伺服驱动参数调试关键技术分析与实现-analysis and implementation of key technologies for servo drive parameter debugging.docxVIP

AbstractServodrivesystemiswidelyusedintheindustrialapplication.Itscontrolperformanceismainlydeterminedbythecontrolparameters.Whentheworkingconditionvaries,thecontrolparametersneedtobetunedtomaintainthebestperformance.Inthisthesis,themethodsofservodriveperformancetestwereresearched.Onthebasisofthecontrolstructureofservodrivesystem,theperformancecriteriaintimeandfrequencydomainswereanalyzed.Moreover,thestepsignalandChirpsignalwereselectedtotestthetimeandfrequencydomainperformancesofservodriverespectively.Then,afterthein-depthresearchoftraditionalandintelligentauto-tuningalgorithm,animprovedcontrolparametersauto-tuningmethodwasdesignedandproposed.Themethodadoptedtheleast-squaremethodtoidentifythemathematicalmodelofthecontrolledprocess.Basedontheidentifiedmodel,theperformanceindicatorofintegraloferrorswasselectedtojudgetheperformanceofservodrive.Finally,theimprovedsimplexoptimizationmethodwasutilizedtofindtheoptimizedcontrolparameters.Acontrolparameterstuningsoftwareoftheservodrivewasdesignedandrealizedwiththemethodsandalgorithmintroducedabove.Thesoftwarecancommunicatewiththeservodrive.Theperformancesinthetimeandfrequencydomaincanbedisplayedascurvesinthescreentohelpworkerstunecontrolparameters.Furthermore,thetuningsoftwarecanautotuneandoptimizethecontrolparameters.Theresultsofexperimentsdemonstratedthatthesoftwarerealizesthefunctionsintroducedabove.Workerscanconvenientlychecktheperformancespecificationsbythetimeandfrequencydomaintest.Besides,workerscanautomaticallytunethecontrolparametersanddownloadtheoptimalparameterstotheservodrive.Keywords:servodrive,performancetest,parametersauto-tuning,least-square,improvedsimplexoptimization,controlparameterstuningsoftware目录摘要.....................................................................................................IIAbstract...................................................................................................III1绪论1.1课题来源.......................................................................................