Trajectory prediction method for high precision servo control system

被引：0

作者：

Wu, Pei-Jun ^{[1
]}

Yang, Wen-Tao ^{[1
]}

Yu, Chi ^{[2
]}

Yang, Geng ^{[1
]}

机构：

[1] Department of Automation, Tsinghua University, Beijing 100084, China

[2] Qingan Group Co. Ltd, Xi'an 710000, China

来源：

Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2014年 / 18卷 / 07期

关键词：

Pneumatic control equipment - Stepping motors - Trajectories - Least squares approximations;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

For high precision servo control, discontinuities of target trajectory or/and long-periodic instructions lead to slow response and bad characteristics in servo system. A trajectory prediction method was proposed. Targets were classified according to its differentiability and fitting polynomials with proper orders for different kinds of trajectories were chosen, and prediction with improved least square method based on trajectory classification was made. Simulation and experiment with two-phase hybrid stepper motor have been actualized to analyze the prediction result and prove the feasibility of this method, which can reduce the maximum tracking error and tracking system latency.

引用

页码：1 / 5