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CN-116047892-B - Correction method of position servo control system, storage medium and electronic equipment

CN116047892BCN 116047892 BCN116047892 BCN 116047892BCN-116047892-B

Abstract

The invention discloses a correction method, a storage medium and electronic equipment of a position servo control system, which concretely comprise the steps of determining an open loop transfer function and an open loop gain of the position servo control system, drawing a first Bode diagram according to the open loop transfer function and the open loop gain of the position servo control system, judging whether amplitude margin and phase margin of the first Bode diagram meet set requirements, if the amplitude margin of the first Bode diagram meets the set amplitude margin requirements and the phase margin of the first Bode diagram meets the set phase margin requirements, completing correction, otherwise, conducting the next step, drawing a second Bode diagram expected according to the set amplitude margin requirements and the set phase margin requirements, determining a correction function, determining parameters of the correction function according to the first Bode diagram and the second Bode diagram, and completing correction. In the scheme provided by the embodiment of the invention, the correction scheme is determined by analyzing the difference between the first Bode diagram and the second Bode diagram based on geometric figure processing, so that the data processing amount is reduced, and the correction can be completed without a computer.

Inventors

  • ZHANG LI

Assignees

  • 安徽中钢诺泰工程技术有限公司

Dates

Publication Date
20260505
Application Date
20221109

Claims (10)

  1. 1. A method for calibrating a position servo control system, comprising: s1, determining an open loop transfer function and an open loop gain of the position servo control system; S2, drawing a corresponding bird diagram as a first bird diagram according to an open-loop transfer function and an open-loop gain of the position servo control system, and determining an amplitude margin and a phase margin of the first bird diagram; S3, judging whether the amplitude margin and the phase margin of the first Bode diagram meet the set amplitude margin requirement and the set phase margin requirement, if the amplitude margin of the first Bode diagram meets the set amplitude margin requirement and the phase margin of the first Bode diagram meets the set phase margin requirement, turning to S6, otherwise turning to S4; S4, drawing an expected corrected Bode diagram as a second Bode diagram according to the set amplitude margin requirement and the set phase margin requirement; s5, determining a correction function, and determining parameters of the correction function according to the first Bode diagram and the second Bode diagram; S6, finishing correction.
  2. 2. The method according to claim 1, wherein in the step S5, after determining the correction function, determining the parameters of the correction function according to the first bode plot and the second bode plot, the method further includes determining the implementation form of the correction device and the parameters of the correction device corresponding to the correction function.
  3. 3. The method according to claim 1, wherein the correction function determined in step S5 is a transfer function of hysteresis correction if it is determined in step S3 that the phase margin of the first bode plot satisfies a set phase margin requirement and the amplitude margin of the first bode plot is lower than the set amplitude margin requirement.
  4. 4. The method according to claim 1, wherein the correction function determined in step S5 is a transfer function of lead correction if it is determined in step S3 that the amplitude margin of the first bode plot satisfies a set amplitude margin requirement and the phase margin of the first bode plot is lower than the set phase margin requirement.
  5. 5. The method according to claim 1, wherein the open loop transfer function of the position servo control system determined in the step S1 is a simplified open loop transfer function.
  6. 6. The method according to claim 1, wherein the step S1 is performed by determining the open loop gain according to a steady state error requirement of the position servo control system.
  7. 7. The correction method of a position servo control system according to claim 1, wherein the set amplitude margin requirement is not less than 6dB, and the set phase margin requirement is not less than 30 °.
  8. 8. The method for calibrating a position servo control system according to claim 3, wherein said step S5 of determining a calibration function, determining parameters of said calibration function based on said first and second Bode diagrams comprises: S51 determining a transfer function for hysteresis correction As the correction function, where β is a hysteresis ratio coefficient, ω2 is the turning frequency of the hysteresis correction transfer function; s52, determining the value of beta and the crossing frequency corresponding to the second Bode diagram according to the first Bode diagram and the second Bode diagram, and determining the value of omega 2 according to the crossing frequency corresponding to the second Bode diagram; And S53, calculating the phase of the crossing frequency corresponding to the second Bode diagram according to the value of beta and the value of omega 2 determined in the step S52, judging whether the phase of the crossing frequency corresponding to the second Bode diagram meets the requirement of setting a phase margin, if so, taking the value of beta and the value of omega 2 determined in the step S52 as parameters of the correction function, otherwise, returning to the step S52 to adjust the value of beta.
  9. 9. A storage medium comprising stored instructions, wherein the instructions, when executed, control a device in which the storage medium is located to perform a method of calibrating a position servo control system according to any of claims 1-8.
  10. 10. An electronic device comprising at least one processor, and at least one memory and a bus coupled to the processor, wherein the processor and the memory communicate with each other via the bus, and wherein the processor is configured to invoke program instructions in the memory to perform a method of calibrating a position servo control system according to any of claims 1-8.

Description

Correction method of position servo control system, storage medium and electronic equipment Technical Field The present invention relates to the field of servo control technologies, and in particular, to a correction method for a position servo control system, a storage medium, and an electronic device. Background When the position servo control system is in actual use, rolling force is greatly fluctuated, and rolling mill bouncing caused by rolling force and influences of various complex working conditions on the diameter of an outlet rolled piece are great. The simple adjustment of the open loop amplification factor for such a system does not meet the overall performance of the system, which requires adjustment and correction of the system. The traditional transfer function correction method firstly carries out calculation according to a control theory basis, the method has large calculation amount and complicated data processing, and the other common method is to draw a Bode diagram by using a Simulink tool of Matlab software of a computer, but the correction cannot be realized under the condition of no computer. Disclosure of Invention In view of the foregoing, the present invention provides a correction method, a storage medium, and an electronic device for a position servo control system, which overcome or at least partially solve the foregoing problems, where the technical solutions are as follows: A method of calibrating a position servo control system, comprising: s1, determining an open loop transfer function and an open loop gain of the position servo control system; S2, drawing a corresponding bird diagram as a first bird diagram according to an open-loop transfer function and an open-loop gain of the position servo control system, and determining an amplitude margin and a phase margin of the first bird diagram; S3, judging whether the amplitude margin and the phase margin of the first Bode diagram meet the set amplitude margin requirement and the set phase margin requirement, if the amplitude margin of the first Bode diagram meets the set amplitude margin requirement and the phase margin of the first Bode diagram meets the set phase margin requirement, turning to S6, otherwise turning to S4; S4, drawing an expected corrected Bode diagram as a second Bode diagram according to the set amplitude margin requirement and the set phase margin requirement; s5, determining a correction function, and determining parameters of the correction function according to the first Bode diagram and the second Bode diagram; S6, finishing correction. In the above method, optionally, in step S5, after determining the correction function, determining parameters of the correction function according to the first bode diagram and the second bode diagram, determining implementation forms of the correction device and parameters of the correction device corresponding to the correction function are further included. In the above method, optionally, in step S3, if it is determined that the phase margin of the first bode plot meets the set phase margin requirement, and the amplitude margin of the first bode plot is lower than the set amplitude margin requirement, the correction function determined in step S5 is a transfer function of hysteresis correction. In the above method, optionally, in step S3, if it is determined that the amplitude margin of the first bode plot meets the set amplitude margin requirement, and the phase margin of the first bode plot is lower than the set phase margin requirement, the correction function determined in step S5 is a transfer function of lead correction. In the above method, optionally, the open loop transfer function of the position servo control system determined in the step S1 is a simplified open loop transfer function. In the above method, optionally, in step S1, the open loop gain is determined according to a steady state error requirement of the position servo control system. In the above method, optionally, the set amplitude margin requirement is not less than 6dB, and the set phase margin requirement is not less than 30 °. In the above method, optionally, the step S5 of determining a correction function, determining parameters of the correction function according to the first bode plot and the second bode plot includes: S51 determining a transfer function for hysteresis correction As the correction function, where β is a hysteresis ratio coefficient, ω2 is the turning frequency of the hysteresis correction transfer function; s52, determining the value of beta and the crossing frequency corresponding to the second Bode diagram according to the first Bode diagram and the second Bode diagram, and determining the value of omega 2 according to the crossing frequency corresponding to the second Bode diagram; And S53, calculating the phase of the crossing frequency corresponding to the second Bode diagram according to the value of beta and the value of omega 2 determined in the step S52, ju