Investigation of the controller parameter optimisation for a servomechanism

Abstract

A novel controller parameter optimisation method to effectively improve the motion accuracy of a servomechanism is proposed in this article. This method overcomes the drawbacks of conventional controller parameter optimisation methods, such as inefficiency and dependence on experience. The servomechanism model was established, and a performance analysis was performed. Moreover, the design requirements were developed. The robust stability was adopted to solve the problem induced by great variations in the modelling elements. Subsequently, a multi-objective nonlinear optimisation problem was developed and solved by an intelligent optimisation algorithm. To achieve the desired performance, the multi-objective optimisation function adopted a comprehensive command response performance function and an external disturbance rejection response function. To validate the effectiveness and feasibility of this method by simulation and experiment, an open servomechanism platform was established. The simulated and experimental results show that the tracking error, protrusion error and performance indicators are all reduced greatly under different working conditions. This method can effectively improve the motion accuracy and has the advantages of high efficiency, high practicality and high flexibility.

Real-time estimate and control contour errors for five-axis local smoothed toolpaths based on airthoid splines

“…The main reason is that there exists discrepancys of the model parameters between the nominal and actual models of the feed drives, such as the inertia, the damping and so on. To deal with the problem, Karitonov rule is involved to realize the robust design of the compensator gain, named the robust stable rule [35]. Take the stability of the contour error compensation system hereby to illustrate the design strategy.…”

Dynamic performance analysis based on the mechatronic system of power transmission line inspection robot with dual-arm

“…27 In addition, as a mechatronics system, both the mechanical system and the control system will affect the dynamic performance of the PTLIRs. 28 For the control system, the servo motor as the actuator of the robot is closely related to the dynamic performance, 29 and the research of the sever motor models mostly concentrates on taking load inertia as a disturbance. 30 However, considering the PTLIRs have a more serious change of load inertia during obstacle avoidance, 31 this kind of traditional model is not suitable for the performance analysis of PTLIRs.…”

Analysis of friction error in CNC machine tools based on electromechanical characteristics

“…Many approaches have been discussed to realize the goal. 1–5 However, the error caused by the friction at low velocity and reverse motion cannot be completely removed by those traditional methods due to highly nonlinear performance of friction. Although the model-based compensation methods 6–9 successfully realize the friction compensation by adding the pulses to the current loop of the control system, it is still a challenge to apply those methods to some commercial numerical-controlled (NC) systems based on proportional–proportional–integral controllers and position–velocity–current loops, the current loop of which is set in the servo amplifier and lack of the openness to NC unit.…”