Title:
METHOD FOR ACQUIRING FRICTION CHARACTERISTICS OF SERVO SYSTEM, CONTROL METHOD AND SYSTEM OF SERVO SYSTEM, AND STORAGE DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/097769
Kind Code:
A1
Abstract:
A method for acquiring friction characteristics of a servo system, a control method and system of a servo system, and a storage device. The method for acquiring friction characteristics of a servo system comprises: setting a servo system to be under speed loop control (S101); setting a first test rotation speed, and causing a servo motor in the servo system to operate at the first test rotation speed (S102); collecting a first electromagnetic torque signal, and performing frequency spectrum analysis of an alternating-current component of the first electromagnetic torque signal to extract a cyclically changing harmonic frequency from the alternating-current component (S103); and performing, according to the cyclically changing harmonic frequency, fitting of a torque ripple curve to obtain a relationship between torque ripple and a rotational position of the servo motor (S104). The invention enables acquisition of friction characteristics required for performing compensation control on a servo system, and facilitates compensating an output torque of the servo system, reducing or eliminating the effect of friction in the system on the output of the servo system.
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Inventors:
TAO ZHIYU (CN)
Application Number:
PCT/CN2018/115088
Publication Date:
May 22, 2020
Filing Date:
November 12, 2018
Export Citation:
Assignee:
SHENZHEN A & E INTELLIGENT TECH INST CO LTD (CN)
International Classes:
H02P6/10; G01N19/02; H02P21/14; H02P23/14
Foreign References:
| CN106385206A | 2017-02-08 | |||
| CN106385206A | 2017-02-08 | |||
| CN102269638A | 2011-12-07 | |||
| CN106385211A | 2017-02-08 | |||
| CN102355193A | 2012-02-15 | |||
| CN101846975A | 2010-09-29 | |||
| CN101515778A | 2009-08-26 |
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (CN)
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