Research on Identification and Compensation of Linear Servo System Time Delay Parameter

doi:10.3901/JME.2018.05.193

Abstract

Abstract: To eliminate the negative influence of intrinsic linear servo system time delay on the trajectory tracking performance, the reason behind the negative influence of linear servo system time delay on the tracking accuracy designed based on a typical two-degree-of-freedom controller structure with feedforward-feedback controller is theoretically analyzed. And then a time delay controller is designed to compensate the delay effect based on analysis. To conquer the non-realization of delay controller located in the feedforward path as a lead link the time delay is divided into two parts, one is a integrally multiple of servo cycle for adjusting the ideal trajectory command delay and located in the path of ideal trajectory command, another acts as a time parameter of feedforward control signal filter. And then the Newton iteration method is introduced to identify the optimal time delay control parameter. Simulation and experimental results show that the position tracking error of closed loop linear servo system can be reduced by adding the time-delay controller to the two degree of freedom controllers. Particularly the tracking error of nonzero jerk phases in trajectory is significantly reduced and finally the tracking performance is improved.

Key words: iterative learning optimization, linear servo system, newton iteration method, time delay control

CLC Number:

TP391

YANG Liangliang, SHI Jun, LU Wenqi, SHI Weimin. Research on Identification and Compensation of Linear Servo System Time Delay Parameter[J]. Journal of Mechanical Engineering, 2018, 54(5): 193-201.

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