CN101236435A - Permanent magnetism synchronous electric machine position servo system control method - Google Patents
Permanent magnetism synchronous electric machine position servo system control method Download PDFInfo
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- CN101236435A CN101236435A CNA2008100202116A CN200810020211A CN101236435A CN 101236435 A CN101236435 A CN 101236435A CN A2008100202116 A CNA2008100202116 A CN A2008100202116A CN 200810020211 A CN200810020211 A CN 200810020211A CN 101236435 A CN101236435 A CN 101236435A
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Abstract
The invention provides a method for controlling a positional servosystem of a permanent-magnet synchronous motor, belonging to a control proposal in the field of alternating current frequency conversion and servosystem. The method provides a speed reaching control for a largest motor rotor in the prior PID positional servosystem. The positional servosystem of the permanent-magnet synchronous motor can realize a reliable starting, a fast reaching and a precise positioning through coordination operations under the circumstances of a corner positional mode of the motor rotor and a speed mode of the motor rotor. The method has a simple digital realization and a good universality, and has a use value for the alternating current frequency conversion and servosystem.
Description
One, technical field
The present invention relates to the control method in AC frequency conversion and servo-drive system field
Two, background technology
The modern servo drive system generally all need have torque, speed or the positional precision of regulation under the steady operation condition, and satisfies the requirement of dynamic performance, therefore takes rational control strategy most important.Adopting at present maximum in industrial process control still is PID control, and its ratio surpasses 95%.Pid control algorithm is simple, robustness good, reliability is high and be easy to realization.With the permagnetic synchronous motor AC servo is example, generally adopts position, speed and electric current three closed loops series connection PID control model.In this control model, when servomotor gradually during the convergence position location, its velocity of approach also reduces synchronously; When motor arrived given position, speed was reduced to zero.
Existing document is based on the design and the improvement of pid control parameter under this control model more, a lot of very useful schemes have also been proposed, but still being confined to the control model of speed ring behind the first position ring, the raising of its dynamic and static performance simultaneously also only can rely on the reasonable utilization of distributing rationally of controller parameter and correlative compensation technology.How keep PID control steady-state characteristic good in, improve the dynamic property of AC servo conscientiously, be a focus of research at present, existing solution all be confined to behind the first position ring this control model of speed ring and versatility not strong.
Three, summary of the invention
Purpose of the present invention has been intended to propose a kind of angle position of rotor, the rotating speed two-part control method of rotor, to improve the dynamic property of positional servosystem.This implementation is characterised in that the angle position positioning error absolute value with rotor | Δ θ | and be considered as the switching threshold values of the rotating speed control model of the angle position control model of rotor and rotor, and have:
1. when the angle position positioning error absolute value of rotor | Δ θ | during＞ξ (ξ is a constant), system enters the rotating speed control model of rotor, guarantees that servomotor reliably starts, and with maximum (top) speed (the rated speed ω of rotor
n) angle position of the given rotor of convergence;
2. when the angle position positioning error absolute value of rotor | Δ θ | during≤ξ, system enters the angle position control model of rotor, and finally realizes the accurate location of servomotor.
Four, description of drawings
The auditory localization cues of permagnetic synchronous motor servo-drive system under Fig. 1 traditional PID control.
The rotating speed control model of Fig. 2 rotor (| Δ θ |＞ξ).
The angle position control model of Fig. 3 rotor (| Δ θ |≤ξ).
Fig. 4 tests structured flowchart.
The location waveform of system under Fig. 5 traditional PID control.
The location waveform of system under Fig. 6 Novel Control.
Five, embodiment
5.1 the control method of novel AC position servo system
AC servo under the traditional PID control strategy (is example with the permanent magnetism synchronous electric machine position servo system) adopts position, speed and electric current three closed loops series connection control model.In AC position servo system, position control often adopts the PD regulator of P regulator or band feedforward link simultaneously; Speed control and Current Control then adopt pi regulator or PID regulator.From existing document, the design object of various AC servo controllers all can reduce: under the condition of system stability, expansion location or speed adjustable range are accelerated dynamic response, eliminate steady-state error, and guarantee control quick and precisely.Adopt the P regulator with position ring, speed ring adopts pi regulator, and it is example that electric current loop adopts traditional permanent magnetism synchronous electric machine position servo system of pi regulator control, and when servomotor gradually during the convergence position location, its velocity of approach also reduces synchronously; When motor arrived given position, speed was reduced to zero, and its position fixing process as shown in Figure 1.
The present invention studies by the angle position servo-drive system operation characteristic to rotor on the basis of traditional PI D positional servosystem control idea, has proposed a kind of angle position of rotor, the rotating speed two-part control method of rotor.It is with the absolute value of the angle position positioning error of rotor | Δ θ | be considered as the switching threshold values of two kinds of control models of rotating speed of angle position, the rotor of rotor, when | Δ θ | during＞ξ (constant), the rotating speed control model of utilization rotor realizes the reliable starting and location convergence of motor; When | Δ θ | during≤ξ, system switches to the angle position control model and the final accurate location of realizing servomotor of rotor, and it realizes that thought is shown in Fig. 2 ~ 3.
The key of this servocontrol conceptual design is the co-ordination of two kinds of control models and switches choosing of threshold values.Switch threshold values | Δ θ | value is more little, and it is short more that then servo-drive system reaches time of stable state, but very easily cause overshoot; Switch threshold values | Δ θ | value is big more, and it is long more that then servo-drive system reaches time of stable state, has influenced the rapidity of servo-drive system location, so need take all factors into consideration | Δ θ | value.
5.2 experimental verification
Validity for further access control strategy, having made up is the permagnetic synchronous motor servo-drive system experiment porch of core with TMS320LF2407A, its ingredient has: the raster pattern position detection unit of PC+DSP master control computing system unit, Intelligent Power Module IPM (PS21865), electric current and voltage sensor unit and 2500 lines etc., its experiment structured flowchart as shown in Figure 4.Wherein the permagnetic synchronous motor parameter as controlled device is: rated power 800W, and rated speed 3000r/min, every phase armature winding resistance 1.30 Ω, d-axis inductance 1.48mH hands over axle inductance 1.47mH, moment of inertia 1.03kgcm
2
Algorithm of the present invention is compared with traditional algorithm does not increase the complexity that software is realized, has but improved significantly servo system The dynamic property of system, the while has kept again the associated advantages of PID control technology fully. The experimental waveform of two kinds of algorithms is such as figure Shown in 5 ~ 6, both compare, and the lower system of algorithm control of the present invention has reduced about 80% positioning time.
Claims (1)
1, a kind of control method of permanent magnetism synchronous electric machine position servo system, it is characterized in that angle position positioning error absolute value with rotor | Δ θ | be considered as the switching threshold values of the rotating speed control model of the angle position control model of rotor and rotor, and have:
1. when the angle position positioning error absolute value of rotor | Δ θ | during＞ξ, system enters the rotating speed control model of rotor, guarantees that servomotor reliably starts, and with the angle position of the given rotor of maximum (top) speed convergence of rotor;
2. when the angle position positioning error absolute value of rotor | Δ θ | during≤ξ, system enters the angle position control model of rotor, and finally realizes the accurate location of servomotor, and ξ is a constant in the above-mentioned formula.
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| CNA2008100202116A CN101236435A (en) | 2008-02-27 | 2008-02-27 | Permanent magnetism synchronous electric machine position servo system control method |
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| CNA2008100202116A CN101236435A (en) | 2008-02-27 | 2008-02-27 | Permanent magnetism synchronous electric machine position servo system control method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102820839A (en) * | 2011-06-10 | 2012-12-12 | 北京理工大学 | Precision positioning method for motor servo system in backlash transmission |
| CN103488189A (en) * | 2013-09-24 | 2014-01-01 | 国家电网公司 | Control method of servo motor |
| CN104601068A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Micro motor direct-drive angle servo device |
| CN105425640A (en) * | 2015-12-15 | 2016-03-23 | 北京无线电测量研究所 | Hierarchical virtual closed-loop control method and system for turntable |
| CN106411188A (en) * | 2016-11-16 | 2017-02-15 | 天津动核芯科技有限公司 | Industrial robot intelligent driving system |
| CN106489105A (en) * | 2015-06-18 | 2017-03-08 | 三菱电机株式会社 | Control parameter adjusting apparatus |
| CN108227756A (en) * | 2018-01-23 | 2018-06-29 | 南京科远自动化集团股份有限公司 | A kind of high-precision valve door control method |
| CN110611470A (en) * | 2019-09-26 | 2019-12-24 | 新乡艾迪威汽车科技有限公司 | Control method of speed servo system |
-
2008
- 2008-02-27 CN CNA2008100202116A patent/CN101236435A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102820839A (en) * | 2011-06-10 | 2012-12-12 | 北京理工大学 | Precision positioning method for motor servo system in backlash transmission |
| CN103488189A (en) * | 2013-09-24 | 2014-01-01 | 国家电网公司 | Control method of servo motor |
| CN103488189B (en) * | 2013-09-24 | 2017-01-18 | 国家电网公司 | Control method of servo motor |
| CN104601068A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Micro motor direct-drive angle servo device |
| CN106489105A (en) * | 2015-06-18 | 2017-03-08 | 三菱电机株式会社 | Control parameter adjusting apparatus |
| CN106489105B (en) * | 2015-06-18 | 2018-06-22 | 三菱电机株式会社 | Control parameter adjusting apparatus |
| CN105425640A (en) * | 2015-12-15 | 2016-03-23 | 北京无线电测量研究所 | Hierarchical virtual closed-loop control method and system for turntable |
| CN105425640B (en) * | 2015-12-15 | 2018-02-13 | 北京无线电测量研究所 | A kind of layering void closed loop control method and system for turntable |
| CN106411188A (en) * | 2016-11-16 | 2017-02-15 | 天津动核芯科技有限公司 | Industrial robot intelligent driving system |
| CN108227756A (en) * | 2018-01-23 | 2018-06-29 | 南京科远自动化集团股份有限公司 | A kind of high-precision valve door control method |
| CN108227756B (en) * | 2018-01-23 | 2020-12-11 | 南京科远智慧科技集团股份有限公司 | High-precision valve control method |
| CN110611470A (en) * | 2019-09-26 | 2019-12-24 | 新乡艾迪威汽车科技有限公司 | Control method of speed servo system |
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