CN101369800B - Motor control apparatus - Google Patents
Motor control apparatus Download PDFInfo
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- CN101369800B CN101369800B CN2008101211080A CN200810121108A CN101369800B CN 101369800 B CN101369800 B CN 101369800B CN 2008101211080 A CN2008101211080 A CN 2008101211080A CN 200810121108 A CN200810121108 A CN 200810121108A CN 101369800 B CN101369800 B CN 101369800B
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Abstract
The present invention provides a motor control apparatus for improving various perturb resistance capability of a motor to exterior load change. Based on the existing motor control apparatus equipped with perturb observer, the apparatus is added with perturb observation output control unit, by which an observation perturb torsion value superposed to an output torsion instruction of a speed control unit, is adjusted. Thus system perturb response is enhanced and transition oscillation or noise caused by perturb restrain control is improved.
Description
Technical field
The present invention relates to the Motor Control technical field, specifically, relate to a kind of control device of electric motor of motor that be used to improve various disturbance resistivities such as external loading variations.
Background technology
In control device of electric motor; Usually can form torque control, speed control, three kinds of control modes of Position Control; As shown in Figure 1; In the outside of torque controlling unit, set forms the speed control system with speed control, forms in the set of the outside of speed control system to have the position control system of positioner.From figure, can see that speed control system comprises: speed control, according to the difference generation torque instruction of speed command and speed feedback; The torque controlling unit is supplied power to motor according to torque instruction; The position probing link is used to detect the position signalling of motor; The motor position signal that the speed arithmetic unit obtains according to the position probing link generates the feedback speed signal of motor.In addition, the subtracter and the adder that produces the signal sum that also comprise the difference that is used to produce signal.
In speed control system, system can set a proper yield value according to the moment of inertia of electric motor driven load, thereby speed control system moves with stability.But there is so a kind of situation; When gain needed motor load moment of inertia of computational speed is unknown or when changing,, can not change along with the variation of load rotating inertia because the speed gain that system has set can not reflect the size of motor load moment of inertia; Thereby; When the speed gain of setting does not reflect actual motor load moment of inertia, to compare when reflecting actual motor load moment of inertia, the performance of control system will worsen; Even become unstable, and there is the situation of control system generation resonance.Ought occur the disturbance factors such as torque effect that the motor torque constant changes, friction causes in addition,, also will have influence on actual control system performance because system can not respond this disturbance in time.
Proposed at present a kind of method of utilizing disturbance observer to realize Disturbance Rejection control, can suppress of the influence of some disturbance factors such as load rotating inertia variation, the variation of motor torque constant system.According to the thought of this control method, when adopting this control, under the situation of unknown load rotating inertia, roughly the same control performance in the time of having accessed and set correct load rotating inertia.Even when 10 times variation took place moment of inertia, control system still can keep robustness.Fig. 2 shows a kind of control device of electric motor that utilizes disturbance observer to realize Disturbance Rejection control; This device has added a disturbance observer and adder; Disturbance observer is according to motor speed feedback and new torque instruction; Generate disturbance observation torque output, and get on, form new torque instruction through the be added to torque instruction of former speed control output of adder.The collection location controller can form position control system.For example; Japan Patent JP-A-10-248286 carries out Disturbance Rejection control through using disturbance observer, when to inertia when the mechanical system of motor torque drives; From the angle of speed control, the moment of inertia of mechanical system is controlled to very little degree.
Present speed control when the known load moment of inertia, through suitable gain parameter is set, can obtain good system responses; But when having disturbance such as load rotating inertia variation, the variation of motor torque constant, the system disturbance response is slower, the response that is disturbed easily, and system robustness is relatively poor.
Shown in Fig. 9 a, externally under the effect of disturbance 2a, the system speed response produces bigger fluctuation.But among the start-up course 1a, big ultraharmonic oscillation does not appear in electromotor velocity; Steady-state noise is little during stable state 3a.
When utilizing disturbance observer to realize Disturbance Rejection control, can effectively suppress the influence of external disturbance to system, thereby system has robustness to each disturbance, the system disturbance response strengthens; But,, influence control performance, thereby influence the robust stability of system, the commanded response variation because sensor noise, quantization error, factor such as differentiate can be introduced observation noise or vibration in the system.
Because the setting of observer parameter and difference such as sensor performance, the error of calculation, possibly there are following two kinds of situation (and compare with the speed control that had stability and identical parameters originally) in Disturbance Rejection when controlling:
The deterioration of instruction steady-state response accounts for leading factor, compares former speed control, and steady-state noise is bigger.Hereinafter is referred to as situation A.
The deterioration of the instruction dynamic response response of transient process (as start or stop) accounts for leading factor, and is little to the influence of instruction steady-state response, steady-state noise is less; But compare former speed control, occur overshoot by a relatively large margin in the dynamic process, if the observer parameter is unreasonable even the time of transient process will be elongated.Hereinafter is referred to as situation B.
Shown in Fig. 9 d, externally under the effect of disturbance 2d, the system speed response not have the appearance fluctuation so big like Fig. 9 a, but steady-state noise is bigger during stable state 3d, i.e. situation A.
Shown in Fig. 9 b, externally under the effect of disturbance 2b, the system speed response does not have the fluctuation so big like Fig. 9 a to occur, but among the start-up course 1b, big ultraharmonic oscillation, i.e. situation B appear in electromotor velocity.
Summary of the invention
If in background, can correspondingly improve above-mentioned unfavorable factor under this Disturbance Rejection control, so this method will be superior to original speed control comprehensively, for example PID control.The purpose of this invention is to provide a kind of such control device of electric motor; This device both can obtain good Disturbance Rejection effect; Also can suppress the influence of above-mentioned unfavorable factor, improve dynamic response and stable state high-frequency noise under the Disturbance Rejection control respectively, obtain good commanded response.
The technical problem that the present invention solved can adopt following technical scheme to realize:
According to first kind of structure of the present invention, a kind of control device of electric motor comprises:
The position probing link detects motor position, the output motor position signalling;
The speed arithmetic unit, the motor position signal that obtains according to the position probing link generates the feedback speed signal of motor;
Positioner comes the output speed instruction according to the difference between position command and the motor position signal;
Speed control, poor through input speed instruction and feedback speed signal exported torque instruction;
The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through importing new torque instruction and feedback speed signal, output observation perturbing torque;
It is characterized in that, also further, comprising:
Disturbance observation output controlling unit through input observation perturbing torque, is exported new perturbing torque amount;
Adder through input torque instruction and new perturbing torque amount are carried out addition, is exported new torque instruction.
Among the present invention, said disturbance observation output controlling unit comprises:
The condition judgment module is according to the size of observation perturbing torque and reference value, output logic value;
Module is selected in output, according to the logical value of condition judgment module output, decides and selects observation perturbing torque or null value to be input to adder.
Maximum observation perturbing torque value when said reference value can be got stable state.
According to second kind of structure of the present invention, a kind of control device of electric motor comprises:
The position probing link detects motor position, the output motor position signalling;
The speed arithmetic unit, the motor position signal that obtains according to the position probing link generates the feedback speed signal of motor;
Positioner comes the output speed instruction according to the difference between position command and the motor position signal;
Speed control, poor through input speed instruction and feedback speed signal exported torque instruction;
The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through importing new torque instruction and feedback speed signal, output observation perturbing torque;
It is characterized in that, also further, comprising:
Disturbance observation output controlling unit through the difference of input observation perturbing torque and speed command and motor speed feedback signal, is exported new perturbing torque amount;
Adder through input torque instruction and new perturbing torque amount are carried out addition, is exported new torque instruction.
Among the present invention, said disturbance observation output controlling unit comprises:
The condition judgment module is according to observation speed instruction and the difference of motor speed feedback signal and the size of reference value, output logic value;
Module is selected in output, according to the logical value of condition judgment module output, decides and selects observation perturbing torque or null value to be input to adder.
Maximum motor speed undulating value when said reference value can be got stable state.
According to the third structure of the present invention, a kind of control device of electric motor comprises:
The position probing link detects motor position, the output motor position signalling;
The speed arithmetic unit, the motor position signal that obtains according to the position probing link generates the feedback speed signal of motor;
Positioner comes the output speed instruction according to the difference between position command and the motor position signal;
Speed control, poor through input speed instruction and feedback speed signal exported torque instruction;
The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through importing new torque instruction and feedback speed signal, output observation perturbing torque;
It is characterized in that, also further, comprising:
Disturbance observation output controlling unit through input observation perturbing torque and speed command, is exported new perturbing torque amount;
Adder through input torque instruction and new perturbing torque amount are carried out addition, is exported new torque instruction.
Among the present invention, said disturbance observation output controlling unit comprises:
The condition judgment module, according to observation when time speed and last time speed difference and the size of reference value, the output logic value;
Module is selected in output, according to the logical value of condition judgment module output, decides and selects observation perturbing torque or null value to be input to adder.
Said reference value can be got 1～10 times stable state motor speed fluctuates value.
The structure of control device of electric motor of the present invention can obtain good Disturbance Rejection effect, and has improved the unfavorable factors such as observation noise that Disturbance Rejection control causes, has obtained good commanded response.Regulate the observation perturbing torque value on the speed control link output torque instruction that is added to through disturbance observation output controlling unit, thereby in the enhanced system disturbance response, improved transient process vibration or noise that Disturbance Rejection control causes.
Description of drawings
Fig. 1 is the control block diagram of the control device of electric motor of routine.
Fig. 2 is the control block diagram that is provided with the control device of electric motor of disturbance observer.
Fig. 3 is the control block diagram of first embodiment of the invention.
Fig. 4 is the control block diagram of second embodiment of the invention.
Fig. 5 is the control block diagram of third embodiment of the invention.
Fig. 6 is the control block diagram of first embodiment of the invention disturbance observation output controlling unit.
Fig. 7 is the control block diagram of second embodiment of the invention disturbance observation output controlling unit.
Fig. 8 is the control block diagram of third embodiment of the invention disturbance observation output controlling unit.
Fig. 9 a is the electromotor velocity response diagram of the control device of electric motor of routine.
Fig. 9 b is the electromotor velocity response diagram of situation B that is provided with the control device of electric motor of disturbance observer.
Fig. 9 c is the electromotor velocity response diagram of third embodiment of the invention.
Fig. 9 d is the electromotor velocity response diagram of situation A that is provided with the control device of electric motor of disturbance observer.
Fig. 9 e is the electromotor velocity response diagram of first embodiment of the invention.
Fig. 9 f is the electromotor velocity response diagram of second embodiment of the invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.
Embodiment 1
The control device of electric motor of present embodiment mainly is in order to suppress the A of situation described in the background, promptly to instruct the deterioration of steady-state response to account for the perturbed problem under the leading factor situation.
Referring to Fig. 3, the control device of electric motor of present embodiment comprises the position probing link, and it is used to detect motor position, the output motor position signalling; The motor position signal that the speed arithmetic unit obtains according to the position probing link generates the feedback speed signal of motor; Positioner comes the output speed instruction according to the difference between position command and the motor position signal; Speed control is poor through input speed instruction and feedback speed signal, the output torque instruction; The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through input new torque instruction and feedback speed signal, and perturbing torque is observed in output; Disturbance observation output controlling unit is exported new perturbing torque amount through input observation perturbing torque; Adder is exported new torque instruction through input torque instruction and new perturbing torque amount are carried out addition.
Referring to Fig. 6, disturbance observation output controlling unit comprises: the condition judgment module, and it is judged according to the observation perturbing torque, output logic value 0 or 1, when:
| the observation perturbing torque |>reference value, then export 1;
| the observation perturbing torque | < reference value then exports 0.
Maximum observation perturbing torque value when reference value can be got stable state.
The logical value 0 or 1 of module according to the output of condition judgment module selected in output, decides and selects observation perturbing torque or null value, outputs to adder.If condition judgment is output as at 1 o'clock, output observation perturbing torque; If condition judgment is output as at 0 o'clock, the output null value.
Shown in Fig. 9 e, when adopting the control structure of present embodiment, externally under the effect of disturbance 2e; Big fluctuation does not appear in the system speed response; And steady-state noise is little during stable state 3e, near the steady-state behaviour 3a of Fig. 9 a, has embodied the effect of good disturbance suppression.
Embodiment 2
The control device of electric motor of present embodiment is in order to suppress the A of situation described in the background, promptly to instruct the deterioration of steady-state response to account for the perturbed problem under the leading factor situation equally.
Referring to Fig. 4, the control device of electric motor of present embodiment comprises the position probing link, and it is used to detect motor position, the output motor position signalling; The motor position signal that the speed arithmetic unit obtains according to the position probing link generates the feedback speed signal of motor; Positioner comes the output speed instruction according to the difference between position command and the motor position signal; Speed control is poor through input speed instruction and feedback speed signal, the output torque instruction; The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through input new torque instruction and feedback speed signal, and perturbing torque is observed in output; Disturbance observation output controlling unit is exported new perturbing torque amount through the difference of input observation perturbing torque and speed command and motor speed feedback signal; Adder is exported new torque instruction through input torque instruction and new perturbing torque amount are carried out addition.
Referring to Fig. 7, disturbance observation output controlling unit comprises: the condition judgment module, and it is according to the difference of speed command and motor speed feedback, and promptly velocity deviation is judged, output logic value 0 or 1, when:
| velocity deviation |>reference value, then export 1;
| velocity deviation | < reference value then exports 0.
Maximum motor speed undulating value when reference value can be got stable state.
The logical value 0 or 1 of module according to the output of condition judgment module selected in output, decides and selects observation perturbing torque or null value, outputs to adder.If condition judgment is output as at 1 o'clock, output observation perturbing torque; If condition judgment is output as at 0 o'clock, the output null value.
Shown in Fig. 9 f, when adopting the control structure of present embodiment, externally under the effect of disturbance 2f; Big fluctuation does not appear in the system speed response; And steady-state noise is little during stable state 3f, near the steady-state behaviour 3a of Fig. 9 a, has embodied the effect of good disturbance suppression equally.
Embodiment 3
The control device of electric motor of present embodiment mainly is in order to suppress the B of situation described in the background, promptly to instruct the deterioration of dynamic response to account for the perturbed problem under the leading factor situation.
Referring to Fig. 5, the control device of electric motor of present embodiment comprises the position probing link, and it is used to detect motor position, the output motor position signalling; The motor position signal that the speed arithmetic unit obtains according to the position probing link generates the feedback speed signal of motor; Positioner comes the output speed instruction according to the difference between position command and the motor position signal; Speed control is poor through input speed instruction and feedback speed signal, the output torque instruction; The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through input new torque instruction and feedback speed signal, and perturbing torque is observed in output; Disturbance observation output controlling unit is exported new perturbing torque amount through input observation perturbing torque and speed command; Adder is exported new torque instruction through input torque instruction and new perturbing torque amount are carried out addition.
Referring to Fig. 8, disturbance observation output controlling unit comprises: the condition judgment module, and its variable quantity according to speed command is judged, output logic value 0 or 1, when:
| when inferior speed command-last time speed command | < reference value then exports 1;
| when inferior speed command-last time speed command |>reference value, then export 0.
Reference value can be got 1～10 times stable state motor speed fluctuates value, looks actual conditions and decides.
The logical value 0 or 1 of module according to the output of condition judgment module selected in output, decides and selects observation perturbing torque or null value, outputs to adder.Compare with 2 with embodiment 1, different.If condition judgment is output as at 0 o'clock, the output null value; If condition judgment output becomes at 1 o'clock from 0, delay time T judges output observation perturbing torque again.The length of delay time T is fixed with the time of dynamic process.
Shown in Fig. 9 c; When adopting the control structure of present embodiment, externally under the effect of disturbance 2c, the system speed response does not have to occur the fluctuation so big like Fig. 9 a; And among the start-up course 1c; Big ultraharmonic oscillation does not appear in electromotor velocity, near the startability 1a of Fig. 9 a, has embodied the effect of good disturbance suppression.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection range to be defined by appending claims and equivalent thereof.
Claims (7)
1. control device of electric motor comprises:
The position probing link detects motor position, the output motor position signalling;
The speed arithmetic unit, the motor position signal that obtains according to the position probing link generates the feedback speed signal of motor;
Positioner comes the output speed instruction according to the difference between position command and the motor position signal;
Speed control, poor through input speed instruction and feedback speed signal exported torque instruction;
The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through importing new torque instruction and feedback speed signal, output disturbance torque observe value;
It is characterized in that, further comprise:
Disturbance observation output controlling unit through input observation perturbing torque, is exported new perturbing torque amount;
Adder through input torque instruction and new perturbing torque amount are carried out addition, is exported new torque instruction;
Said disturbance observation output controlling unit comprises:
The condition judgment module is according to the size of observation perturbing torque and reference value, output logic value;
Module is selected in output, according to the logical value of condition judgment module output, decides and selects observation perturbing torque or null value to be input to adder.
2. control device of electric motor as claimed in claim 1 is characterized in that: the maximum observation perturbing torque value when said reference value is stable state.
3. control device of electric motor comprises:
The position probing link detects motor position, the output motor position signalling;
The speed arithmetic unit, the motor position signal that obtains according to the position probing link generates the feedback speed signal of motor;
Positioner comes the output speed instruction according to the difference between position command and the motor position signal;
Speed control, poor through input speed instruction and feedback speed signal exported torque instruction;
The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through importing new torque instruction and feedback speed signal, output observation perturbing torque;
It is characterized in that, also further, comprising:
Disturbance observation output controlling unit through the difference of input observation perturbing torque and speed command and motor speed feedback signal, is exported new perturbing torque amount;
Adder through input torque instruction and new perturbing torque amount are carried out addition, is exported new torque instruction.
4. control device of electric motor as claimed in claim 3 is characterized in that: said disturbance observation output controlling unit comprises:
The condition judgment module is according to observation speed instruction and the difference of motor speed feedback signal and the size of reference value, output logic value;
Module is selected in output, according to the logical value of condition judgment module output, decides and selects observation perturbing torque or null value to be input to adder.
5. control device of electric motor as claimed in claim 4 is characterized in that: the maximum motor speed undulating value when said reference value is stable state.
6. control device of electric motor comprises:
The position probing link detects motor position, the output motor position signalling;
The speed arithmetic unit, the motor position signal that obtains according to the position probing link generates the feedback speed signal of motor;
Positioner comes the output speed instruction according to the difference between position command and the motor position signal;
Speed control, poor through input speed instruction and feedback speed signal exported torque instruction;
The torque controlling unit is controlled motor through the torque instruction of input;
Disturbance observer is through importing new torque instruction and feedback speed signal, output observation perturbing torque;
It is characterized in that, also further, comprising:
Disturbance observation output controlling unit through input observation perturbing torque and speed command, is exported new perturbing torque amount;
Adder through input torque instruction and new perturbing torque amount are carried out addition, is exported new torque instruction,
The condition judgment module, according to observation when time speed command and last time speed command difference and the size of reference value, the output logic value;
Module is selected in output, according to the logical value of condition judgment module output, decides and selects observation perturbing torque or null value to be input to adder.
7. control device of electric motor as claimed in claim 6 is characterized in that: said reference value is 1～10 times a stable state motor speed fluctuates value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101211080A CN101369800B (en) | 2008-10-09 | 2008-10-09 | Motor control apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008101211080A CN101369800B (en) | 2008-10-09 | 2008-10-09 | Motor control apparatus |
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| CN101369800A CN101369800A (en) | 2009-02-18 |
| CN101369800B true CN101369800B (en) | 2012-02-29 |
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| CN2008101211080A Expired - Fee Related CN101369800B (en) | 2008-10-09 | 2008-10-09 | Motor control apparatus |
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| KR102183548B1 (en) * | 2013-04-09 | 2020-11-26 | 파나소닉 아이피 매니지먼트 가부시키가이샤 | Motor drive device |
| BR112017024615B1 (en) * | 2015-05-20 | 2022-05-31 | Nissan Motor Co., Ltd | Fault diagnosis device and fault diagnosis method |
| CN105099324B (en) * | 2015-08-21 | 2017-12-08 | 深圳巴斯巴科技发展有限公司 | The state observer and its velocity estimation and system of driver |
| CN107241034B (en) * | 2017-08-10 | 2019-11-12 | 中电科芜湖钻石飞机制造有限公司 | A kind of permanent magnet synchronous motor fluctuation of speed suppressing method |
| CN110601624B (en) * | 2019-08-16 | 2020-11-17 | 南京埃斯顿自动化股份有限公司 | Servo control device |
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