Research on Oscillation Suppression Drive Control Technology Based on Current Model Prediction
摘要
In order to solve the oscillation problem of precision servo system in practical application, this paper presents a drive control technology of oscillation suppression based on current model prediction. Firstly, we focus on the mathematical model construction of the servo drive control system. On this basis, a current model prediction controller based on disturbance compensation is designed. The controller can monitor and compensate the disturbance caused by the inaccuracy of the model in real time, and effectively increase the current loop bandwidth to 1 kHz. At the same time, an oscillation suppression controller based on speed difference is also designed. By using the difference information between the actual speed of the motor and the given speed, by optimizing the controller parameters and structure, the transition time for the system to recover stability after sudden interference is significantly reduced. Finally, through simulation and actual bench test, the proposed method is proved to be feasible and effective.