KOLLMORGEN S20330-SRS 伺服驱动器

KOLLMORGEN S20330-SRS  伺服驱动器

KOLLMORGEN S20330-SRS  伺服驱动器

KOLLMORGEN S20330-SRS 科尔摩根 伺服系统控制器 为了实现高性能伺服控制领域，S20330-SRS提出了一种适用于永磁直线同步电机的带死区参数修正的自适应反推互补滑模控制方法。在反演控制和滑模控制的理论基础上，设计了一种强鲁棒控制器ABCSMC，用于补偿系统中出现的参数变化和外部扰动等不确定性。此外，自适应饱和函数的使用避免了参数选择的困难，使得自适应律可以实时调整最优参数。 此外，KOLLMORGEN 为了避免自适应律的参数漂移现象，提出了死区参数修正方法，通过设置性能阈值来解决过训练问题。最后，通过李亚普诺夫定理和巴尔巴拉特引理证明了系统的稳定性。为了检验所提出方案的性能，S20330-SRS实现了一个基于数字信号处理器的实验平台。比较结果表明，所提出的控制器能够获得更高的跟踪性能，并对参数变化和外部干扰的不确定性具有更强的鲁棒性。 随着伺服控制领域需求的增加，具有高可靠性、低成本和结构简单等优点的永磁直线同步电机越来越多地应用于精密场合一,然而，S20330-SRS由于消除了机械传动部件，与旋转电机相比，PMLSM的性能更容易受到参数变化、外部干扰和各种不确定机电现象的影响.因此，为了提高永磁直线同步电机伺服系统的性能，必须设计对不确定性具有鲁棒性的控制器。 基于上述分析，科尔摩根针对表贴式永磁直线同步电机的不确定性，提出了一种带参数估计和死区修正的自适应反推互补滑模控制方法。首先，建立了包含不确定性的永磁直线同步电机的电气和机械动力学模型。然后，设计具有自适应饱和函数的ABCSMC来抑制系统的不确定性，以实现高跟踪精度和强鲁棒性。利用李亚普诺夫稳定性定理和巴尔巴拉特引理推导出的在线参数自适应律用于实时调整参数。其次，科尔摩根为了克服自适应律的过训练问题，提出了一种带性能阈值的死区参数修正方法。最后，通过在S20330-SRS上的实现，验证了该方法的有效性。实验结果表明，所提出的控制方案比ABC ，CSMC 和ABSMC 已实现。

KOLLMORGEN S20330-SRS  伺服驱动器

KOLLMORGEN S20330-SRS kollmorgen servo system controller In order to realize the high-performance servo control field, S20330-SRS proposed an adaptive backstepping complementary sliding mode control method with dead-time parameter correction for permanent magnet linear synchronous motor. Based on the theory of backstepping control and sliding mode control, a strong robust controller ABCSMC is designed to compensate the uncertainties such as parameter changes and external disturbances in the system. In addition, the use of adaptive saturation function avoids the difficulty of parameter selection, so that the adaptive law can adjust the optimal parameters in real time. In addition, in order to avoid the parameter drift of the adaptive law, KOLLMORGEN proposed a dead zone parameter correction method, which solved the overtraining problem by setting the performance threshold. Finally, the stability of the system is proved by Lyapunov theorem and Barbalat lemma. In order to test the performance of the proposed scheme, S20330-SRS implements an experimental platform based on digital signal processor. The comparison results show that the proposed controller can achieve higher tracking performance and is more robust to the uncertainty of parameter changes and external disturbances. With the increasing demand in the field of servo control, permanent magnet linear synchronous motor (PMLSM) with the advantages of high reliability, low cost and simple structure is more and more used in precision occasions. However, compared with rotating motor, the performance of PMLSM is more susceptible to parameter changes, external interference and various uncertain electromechanical phenomena because of the elimination of mechanical transmission parts in S20330-SRS. Therefore, in order to improve the performance of permanent magnet linear synchronous motor servo system, a controller with robustness to uncertainties must be designed.  Consulting Based on the above analysis, kollmorgen proposed an adaptive backstepping complementary sliding mode control method with parameter estimation and dead-time correction for the uncertainty of surface-mounted permanent magnet linear synchronous motor. Firstly, the electrical and mechanical dynamics model of permanent magnet linear synchronous motor with uncertainty is established. Then, ABCSMC with adaptive saturation function is designed to suppress the uncertainty of the system to achieve high tracking accuracy and strong robustness. On-line parameter adaptive law derived from Lyapunov stability theorem and Barbalat lemma is used to adjust parameters in real time. Secondly, in order to overcome the over-training problem of adaptive law, kollmorgen proposed a dead-time parameter correction method with performance threshold. Finally, through the implementation on S20330-SRS, the effectiveness of this method is verified. The experimental results show that the proposed control scheme has been realized compared with ABC, CSMC and ABSMC.

KOLLMORGEN S20330-SRS  伺服驱动器