CN101639667A - Method for designing servo system - Google Patents
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Abstract
The invention relates to the field of virtual design, and discloses a method for designing a servo system. The method comprises the following steps: establishing a collaborative simulation model for amechanical module and a control module of the designed servo system; loading an excitation signal to drive the collaborative simulation model; collecting identification data of the simulation model of the servo system; and identifying a mathematical model of the simulation model of the servo system according to the collected identification data; and analyzing a control performance parameter of the simulation model of the servo system according to the mathematical model. The embodiment can design the servo system based on intrinsic characteristics of the simulation model of the designed servosystem.
Description
Technical field
The present invention relates to the virtual design field, relate in particular to the method for designing of servo-drive system.
Background technology
Be widely applied to servo-control system in the high speed and super precision machinery at present, yet the design of domestic servo-control system and application also rest on lower level, be difficult to satisfy actual demand high speed and super precision machinery.The hysteresis of servo-control system design level is wherein topmost factor.
Traditional method for designing generally is to carry out the design of servo-control system according to designer's experience, produce model machine and test, test its actual performance, produce in batches again if performance meets the requirements, if undesirable then design again, mockup is tested once more.Obviously traditional method for designing will spend a large amount of time, manpower and fund.
The rise of Computer Simulation is for the design that improves servo-drive system provides new means.In the prior art, the electromechanical combination realistic model that makes up servo-drive system that the mechanical model of designed servo-drive system can be combined with controlling models comes servo-drive system that is virtually reality like reality.Because mechanical model has comprised certain nonlinear element, therefore the realistic model of being set up remains nonlinear system, when the performance of weighing designed servo-drive system is good and bad, normally estimate according to the response (as steady-state error, tracking error, overshoot, adjusting time etc.) of measured realistic model.Yet,, therefore estimate designed servo-drive system and also have certain limitation according to its response because the response of servo-drive system realistic model is not enough to disclose its intrinsic characteristic.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of method for designing of servo-drive system, can carry out the design of servo-drive system based on the intrinsic characteristic of the realistic model of designed servo-drive system.
A kind of method for designing of servo-drive system comprises:
The collaborative simulation model of A, the mechanical module of setting up designed servo-drive system and control module;
B, loading pumping signal drive described collaborative simulation model;
C, the Identification Data of gathering described servo-drive system realistic model;
D, according to the mathematical model of the described servo-drive system realistic model of being gathered of Identification Data identification;
E, according to the control performance parameter of the described servo-drive system realistic model of described mathematics model analysis.
Wherein, also comprise after the control performance parameter according to the described servo-drive system realistic model of described mathematics model analysis:
Judge whether described control performance parameter adheres to specification, if, then finish design, if not, adjust the parameter of collaborative simulation model, re-execute B-E.
Wherein, also comprise before the mathematical model according to the described servo-drive system realistic model of being gathered of Identification Data identification: the Identification Data of being gathered is carried out Filtering Processing, reconstruction processing and/or removed the trend term processing.
Wherein, realize the loading of pumping signal in the following manner:
Be connected on the input end of described collaborative simulation model after utilizing the positive and negative square-wave signal of signal edit device module editor; Perhaps,
By signal input module be input on the described collaborative simulation model after the external variable that produces positive and negative square-wave signal is related.
Wherein, the mathematical model that picked out of described servo-drive system realistic model specifically is the closed loop transfer function, of servo-drive system;
Control performance parameter according to the described servo-drive system realistic model of described mathematics model analysis specifically comprises:
According to the closed loop transfer function, that picks out, calculate the open-loop transfer function of described servo-drive system realistic model;
According to described closed loop transfer function, and open-loop transfer function, calculate the frequency response of described servo-drive system realistic model;
Calculate the frequency performance parameter of described servo-drive system realistic model according to described frequency response.
In the embodiment of the invention, realistic model by servo-drive system comes servo-drive system that is virtually reality like reality, and the method that adopts System Discrimination and control theory to combine, pick out the mathematical model of servo-drive system realistic model according to the Identification Data of the servo-drive system realistic model of gathering, go out the control performance parameter of servo-drive system then based on this mathematics model analysis, thereby make the embodiment of the invention can carry out the design of servo-drive system based on the intrinsic characteristic of designed realistic model.
Description of drawings
Fig. 1 is the process flow diagram of the method for designing embodiment of servo-drive system of the present invention;
Fig. 2 is the exemplary plot of servo-drive system in the embodiment of the invention;
Fig. 3 is the synoptic diagram of positive and negative square wave excitation signal in the embodiment of the invention;
Fig. 4 is the exemplary plot of servo-drive system realistic model in the embodiment of the invention;
Fig. 5 is the basic controlling block diagram of servo-drive system realistic model in the embodiment of the invention;
Fig. 6 is six numerically controlled drill dynamic accuracy analyzing virtual PM prototype model figure in the embodiment of the invention;
Fig. 7 is the collaborative simulation virtual prototype illustraton of model of setting up in the embodiment of the invention;
Fig. 8 is the positive and negative square-wave curve synoptic diagram of drawing in Signal Builder module in the embodiment of the invention;
Fig. 9 is the process flow diagram of the closed loop transfer function, of identification servo-drive system realistic model in the embodiment of the invention;
Figure 10 is the process flow diagram of the frequency characteristic of calculating servo realistic model in the embodiment of the invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The theoretical method that the embodiment of the invention adopts comprises classical control theory, system identification theory etc.System identification theory is used to pick out the mathematical model (as transport function) of servo-drive system; Use classical control theory to go out the inherence energy (as stability margin, interference free performance, response performance etc.) of servo-drive system based on the mathematics model analysis that picks out.
See also Fig. 1, be the process flow diagram of the embodiment of the method for designing of servo-drive system of the present invention.The present embodiment method comprises:
The collaborative simulation model of A1, the mechanical module of setting up designed servo-drive system and control module.
In the present embodiment, the realistic model of setting up servo-control system comes servo-drive system that is virtually reality like reality.As shown in Figure 2, servo-drive system can be divided into control module and mechanical module two parts, mechanical module comprises lathe bed, worktable, power drive mechanism (can adopt the mode of servomotor one feed screw nut pair one slide block guide rail moving-member), motor etc., and control module comprises motion controller, servo-driver, servomotor, position detecting element etc.The foundation of realistic model can comprise following components:
(1) the virtual modeling of mechanical module:, utilize mechanical many-body dynamics Software tool to set up the virtual prototype of servo-drive system mechanical part based on Multi-body Dynamics Theory.The research method of many-body dynamics has Newton-Euler equation method, Langrage equation method, graph theory (R-W) method, Kane-Houston method, variational method etc.The Geometric Modeling of mechanical module can be finished in three-dimensional software (as SolidWorks), is input in the mechanical many-body dynamics software (as ADAMS) by interface module, in mechanical many-body dynamics software, set up again each member constraint, flexibly connect and drive.
(2) the virtual modeling of control module: control module mainly comprises motion controller, servo-driver, servomotor and position detecting element etc., when the control structure of these links and parameter are known, be easy in control simulation software (as MATLAB), set up corresponding simulation model, and, then can substitute by approximate mathematical model or identification model when their control structure with during unknown parameters.
(3) collaborative modeling: on the basis that makes up mechanical model and controlling models, the collaborative simulation function based on interface of utilizing simulation software to provide realizes the collaborative simulation between the different models.These two models can utilize solver separately to find the solution respectively, by process communication, finish the operation of collaborative simulation model on emulation discrete time point.
A2, loading pumping signal drive described collaborative simulation model.
In order to make the mathematical model that picks out demonstrate fully the dynamic perfromance of servo-drive system, make pumping signal comprise various frequency contents as far as possible.Because positive and negative square wave has advantages such as the frequency content that contains is wide, the amplitude transformation frequency is low, can adopt as shown in Figure 3 symmetrical positive and negative square wave in the present embodiment as pumping signal.Wherein, when being set, the amplitude of positive and negative square wave, every bat duration and total duration should be noted that:
The amplitude of positive and negative square wave can not be excessive, if its amplitude is excessive, then may cause intermediate controlled amount (as speed, electric current etc.) to exceed the servoamplifier linear zone, brings the saturation nonlinearity influence, reduces identification precision.
The amplitude of positive and negative square wave can not be too small, if its amplitude is too small, effect of non-linear such as the stagnant ring that then rubs in the mechanical model are bigger, are unfavorable for improving identification precision equally.
The every bat duration of positive and negative square wave method to set up: make the frequency of operation that the effective band of positive and negative square wave can covering system (can with reference to the frequency of operation of actual servo system), get 50～100ms usually.
Total duration T=Ts*N of positive and negative square wave, wherein Ts is the data sampling cycle, N is a data sampling point sum.
For the realistic model of servo-drive system, the generation of pumping signal can realize in the following manner with loading:
Mode one: be connected on the input end of servo-drive system realistic model after utilizing the positive and negative square-wave signal of signal edit device module (Signal Builder) editor.
Mode two: by signal input module (From Workspace) be input on the servo-drive system realistic model after the external variable that produces positive and negative square-wave signal is related.
Noticeable, when the mathematical model of identification servo-drive system, need to load the pumping signal of high s/n ratio, motivate each rank mode of system, to obtain identification effect preferably.Complete servo-control system comprises many additional links usually, for example track maker, velocity feed forward link, feed forward of acceleration link, friction feedforward link, position compensation table, pumping signal is loaded into each the rank mode that is difficult to motivate this system on the realistic model that comprises above-mentioned link, be unfavorable for improving the System Discrimination precision, therefore, during to the servo-drive system modeling, can from complete servo-drive system, remove track maker, velocity feed forward link, feed forward of acceleration link, friction feedforward link and position compensation table input end in the present embodiment.Fig. 4 illustrates an example of servo-drive system realistic model in the embodiment of the invention, the realistic model of this servo-drive system comprises comparer, motion controller simplified model (as pure scale model), servo-driver and motor model, mechanical transmission mechanism model and position transducer model, its principle of work is: motion controller Control Driver under the effect of pumping signal (instruction displacement) drives servomotor work, thereby make mechanical transmission mechanism produce corresponding motion, position transducer detects the motion of mechanical transmission mechanism, the actual displacement of the mechanical transmission mechanism that detected is fed back to comparer, comparer compares back output comparative result to instruction displacement and actual displacement, and motion controller is adjusted the control signal of output according to comparative result.
A3: the Identification Data of gathering described servo-drive system realistic model.
In the present embodiment, the input and output dynamic data that can gather the servo-drive system realistic model is as Identification Data.The module (as the ToWorkSpace module) of gathering dynamic data is provided in Control System Imitation software usually, has only needed it is linked to each other with the signal wire that will gather, the dynamic data that collects in the simulation process will be saved in the storage of variables automatically.Can the data acquisition that realize in the simulation process be set by following:
Two data acquisition modules (To WorkSpace) are linked to each other with input, the output terminal of servo-drive system realistic model respectively;
The storage of variables related with data acquisition module is set; And the specified data sampling period.
Sampling period should be the integral multiple in servocontrol cycle, sampling period can not be too small, and higher with the mathematical model order of avoiding picking out, the sampling period can not be excessive, be difficult to reflect the high frequency characteristics of system with the mathematical model of avoiding picking out, get 1～10 times of servocontrol cycle usually.
In addition, because the existence of undesired signal and the temporary transient inefficacy of sensor or transmitter may cause individual signal seriously to compile from actual value, even lose.When this thing happens, can carry out pre-service to the Identification Data of gathering, lose with unusual data during as reconstructed sample, remove trend term in the sampled data, digital filtering etc.
A4: according to the mathematical model of the described servo-drive system realistic model of being gathered of Identification Data identification.
Mathematical model according to the pretreated Identification Data identification servo-drive system realistic model of gathering.The discrimination method of linear system mainly contains two kinds of nonparametric identification and parameter identifications.Wherein two kinds of the most frequently used models are pulsed transfer function model and frequency-domain model in the nonparametric identification, and its identification process is simple, but identification precision is not high; Model commonly used in the parameter identification is arx model and state-space model, has the identification precision advantages of higher.
With the arx model is example, and its expression formula is y (t)+a
1* y (t-1)+... + a
Na* y (t-na)=b
1* u (t-nk)+b
2* u (t-nk-1)+... + b
Nb* u (t-nk-nb+1)+e (t), wherein y is an output data, and u is the input data, and na, nb are respectively polynomial exponent number, and nk represents from being input to output the time-delay in nk sampling period is arranged.For this model, the purpose of identification will obtain its coefficient exactly.Can adopt the middle least squares identification of off-line identification method (having the high characteristics of identification precision) to go out the closed loop transfer function, of lathe servo-drive system in the embodiment of the invention.
A5: according to the control performance parameter of the described servo-drive system realistic model of described mathematics model analysis.
The frequency characteristic that is primarily aimed in the present embodiment in the servo-drive system control performance is analyzed.Need before this to calculate the open-loop transfer function Gk of servo-drive system realistic model according to the closed loop transfer function, that picks out.Be the method that goes out open-loop transfer function by the closed loop transfer function, Gservo direct derivation of realistic model below:
With reference to figure 5, by the basic controlling block diagram of servo-drive system and Mei Xun gain formula Gk=Gc*Gplant*K as can be known, Gservo=K*Gc*Gplant/ (1+Gc*Gplant*K)=Gk/ (1+Gk), and then derive Gk=Gservo/ (1-Gservo), wherein, Gc represents the transport function of controller, and Gplant represents the transport function of controlling object, and K represents position passage scale factor.
According to classic control theory, if the closed loop and the open-loop transfer function of system are known, be easy to the frequency response G (jw) of the system that obtains, just can calculate the frequency performance parameter of system according to frequency domain response, as system bandwidth frequency, shearing frequency, amplitude stability nargin, phase stability margin etc.
After analyzing the control performance parameter of servo-drive system realistic model, can judge further whether described control performance parameter adheres to specification, if, then designed servo-drive system adheres to specification, finish design, if not, then can adjust, and re-execute A2 to A5 the parameter of collaborative simulation model.
Be example with six PCB numerically controlled drill worktable servo-drive systems below, the present invention is provided more detailed embodiment, this embodiment comprises:
B1, servo-drive system modeling
The modeling of six PCB numerically controlled drill worktable servo-drive systems mainly is the modeling of mechanical driving part and Electrified Transmission part, can utilize SolidWorks and ADAMS software to finish to the modeling of mechanical driving part; Modeling to the Electrified Transmission part can realize on the MATLAB software platform.
(1) mechanical part modeling
The Geometric Modeling of mechanical module is finished in three-dimensional software SolidWorks, is input in the ADAMS software by interface module, in ADAMS, set up again each member constraint, flexibly connect and drive.
Six numerically controlled drill dynamic accuracy analyzing virtual PM prototype models setting up as shown in Figure 6.
Following table 1 is the qualitative attribute of mechanical module main member, and table 2 is topological structures of mechanical module main member.
Table 1
| Member | Worktable | Desktop | The gas folder | Lathe bed |
| Material | Cast aluminium | Aluminium alloy | Straight carbon steel simulation actual weight | Granite |
| Mass M/Kg | ??51 | ??26.4 | ??30 | ??2969 |
| X moment of inertia Ixx/ (kg-mm**2) | ??7.74E6 | ??3.08E5 | ??1.38E6 | ??8.76E8 |
| Y moment of inertia Iyy/ (kg-mm**2) | ??5.28E6 | ??2.87E5 | ??1.33E6 | ??5.60E8 |
| Z moment of inertia Izz/ (kg-mm**2) | ??2.50E6 | ??2.09E4 | ??6.24E4 | ??3.40E8 |
Table 2 (1-fixed joint; The 2-planar contact pair; The 3-prismatic pair; The 4-revolute; 5-axle sleeve power; The 6-screw pair; The 7-cylindrical pair)
(2) Electrified Transmission part modeling
The Electrified Transmission part mainly is made of several sections such as positioner, servo-driver, servomotor and position detecting elements.
1) AC permanent magnet synchronous motor modeling
In pcb board numerical control drilling machine worktable servo-drive system, used AC permanent magnet synchronous motor (PMSM-Permanent Magnet Synchronous Machine), the realistic model of this motor is provided in the MATLAB/SIMULINK component library.Control permagnetic synchronous motor for convenience as the control direct current generator, adopt the space vector conversion that the equivalence of permagnetic synchronous motor model is the dq model usually, the motor equation of this model is as follows:
In the formula:
L
q, L
d--hand over axle and d-axis inductance
The R--stator resistance
i
q, i
d--hand over axle and direct-axis current
v
q, v
d--hand over axle and direct-axis voltage
ω
r--rotor velocity
λ--stator and rotor coupling magnetic flux amplitude
The p--number of pole-pairs
T
e--the electromagnetic torque of motor output
2) servo-driver modeling
Servo-driver has three kinds of mode of operations, that is: mode position, velocity mode and torque mode.Servo-driver has comprised complete position ring, speed ring and electric current loop under the mode position; There is not position ring under the velocity mode on the servo-driver; Servo-driver has only comprised electric current loop under the torque mode.The driver model of permagnetic synchronous motor is provided in the MATLAB/SIMULINK component library, and this model has mainly comprised links such as VECT Controller (current controller), Speed Controller (speed control), Three-phase diode rectifier, Braking chopper and Three-phase Inverter.Only need to configure the parameter of each link in the model during use according to the electric parameter of actual actuator.
3) positioner modeling
Positioner is loaded on the speed servo ring after position error signal (difference of the location of instruction and grating feedback position) is regulated.Present most of controller still adopts pid control algorithm, and patented method has adopted pure proportional positions controller in the collaborative simulation model according to the present invention.Mainly based on following some consideration:
Remove integral element and can better simulate of the influence of mechanical sensitivity parameter the systematic steady state error; Remove differentiation element and can avoid inhibiting effect, avoid increasing the stability of system system overshoot; Removing the feedforward link does not influence the frequency domain characteristic of system, can also avoid system to produce high vibration under the step signal effect.
4) Electrified Transmission partial parameters configuration
PMSM model parameter: R=0.38ohm; Ld=Lq=0.0031H; λ=0.1Wb; P=5; J=0.00495kg*m^2; B=0.001N-m-s
Servo-driver parameter: Vdc=640V; Speed ramps=[-1000 1000] rpm/s; Tscurrent=20e-6s; Tsspeed=7*20e-6s; Torque output limits=[-4343] N-m; KPv=1; KIv=100 positioner parameter: KPp=38; KIp=0; KDp=0
(3) collaborative modeling
The method of patent according to the present invention is utilized the ADAMS/Controls module, realizes the multidisciplinary collaborative modeling of many-body dynamics and control: derive mechanical many-body dynamics model; Machinery many phantoms type (adams sub module) adds the control simulated environment; Make up many-body dynamics and control integrated model, set up servo driving according to drive of motor equation: Te=J* (dw/dt)+TL and is connected with signal between the mechanical model, J* in the formula (dw/dt) is that motor shaft is together with mechanical drive model sport dynamic torque partly; TL is the loading moment of mechanical driving part, mainly is presented as the moment of friction on the motion guide rail.Paying special attention to the servo driving model, to export to the controlled quentity controlled variable of mechanical drive model be motor speed (unit is rad/s); The unit of the loading moment TL of mechanical drive model output is that N-mm should be converted into the N-m of standard unit; The unit of the displacement distance of mechanical drive model output is mm.
The collaborative simulation virtual prototype model of setting up as shown in Figure 7.
2, servo identification system is set up
In order to pick out the mathematical model of above-mentioned collaborative simulation virtual prototype model, set up servo identification system as shown in Figure 7.Some explanation that servo identification system is set up:
Pumping signal loading interface module is set: from the MATLAB/SIMULINK component library, choose Signal Builder module and be connected on the input end of realistic model, in its drawing window, draw positive and negative square-wave curve as shown in Figure 8.
The Identification Data acquisition module is set: from the MATLAB/SIMULINK component library, choose two To Workspace modules and be connected respectively on instruction displacement and the actual displacement signal wire on the servo-drive system realistic model, in the Variable of property pages name hurdle, import u and z respectively, input data sampling cycle 880us selects Array in Save format hurdle in Sample time hurdle.
3, emulation experiment and data pre-service
Needed to import the model (ADAMS model) of mechanical driving part before carrying out emulation experiment, this moment, adams sys* window was opened.The user both can finish emulation experiment according to following operation:
Adams sub module in the adams sys* window is copied in the emulation experiment window, and be connected in the collaborative simulation model;
Input servocontrol periodic quantity in the communicationinterval hurdle of the ADAMS Plant submodule property pages under adams sub module, 440us;
Click that the Configuration Parameters Submenu Items under the Simulation menu item is provided with the emulation experiment condition on the emulation experiment window: the emulation zero-time is set to 0, the termination time is set to 1s, maximum simulation step length is set to 440us, the emulation solver is discrete;
Start Submenu Items under start button on the click tools hurdle or the Simulation menu item begins emulation experiment, and experiment finishes and closes the emulation experiment window.
The data pre-service can be handled by some tool software.Following table is with the MATLAB tool software Identification Data to be carried out pretreated function.
Table 3, MATLAB data pre-service function
| Identification u, z are converted into the iddata data object | Data＝iddata(z，u，Ts) |
| The data of losing during reconstructed sample | Data＝misdata(Data) |
| Remove trend term or side-play amount in the data | Data＝detrend(Data) |
4, six PCB numerically controlled drill worktable servo-drive system realistic model closed loop transfer function,s identification
Fig. 9 illustrates the program flow diagram of the closed loop transfer function, that uses MATLAB identification tool box identification servo-drive system.
5, six PCB numerically controlled drill worktable servo-drive system realistic model control performances are analyzed
It is to utilize MATLAB control tool case to calculate the program flow diagram of six PCB numerically controlled drill worktable servo-drive system realistic model frequency characteristics that Figure 10 illustrates.
More than the method for designing of the servo-drive system that the embodiment of the invention provided is described in detail, used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (5)
1, a kind of method for designing of servo-drive system is characterized in that, comprising:
The collaborative simulation model of A, the mechanical module of setting up designed servo-drive system and control module;
B, loading pumping signal drive described collaborative simulation model;
C, the Identification Data of gathering described servo-drive system realistic model;
D, according to the mathematical model of the described servo-drive system realistic model of being gathered of Identification Data identification;
E, according to the control performance parameter of the described servo-drive system realistic model of described mathematics model analysis.
2, the method for claim 1 is characterized in that, also comprises after the control performance parameter according to the described servo-drive system realistic model of described mathematics model analysis:
Judge whether described control performance parameter adheres to specification, if, then finish design, if not, adjust the parameter of collaborative simulation model, re-execute B-E.
3, the method for claim 1, it is characterized in that, also comprise before the mathematical model according to the described servo-drive system realistic model of being gathered of Identification Data identification: the Identification Data of being gathered is carried out Filtering Processing, reconstruction processing and/or removed the trend term processing.
4, the method for claim 1 is characterized in that, realizes the loading of pumping signal in the following manner:
Be connected on the input end of described collaborative simulation model after utilizing the positive and negative square-wave signal of signal edit device module editor; Perhaps,
By signal input module be input on the described collaborative simulation model after the external variable that produces positive and negative square-wave signal is related.
5, as each described method of claim 1 to 4, it is characterized in that:
The mathematical model that described servo-drive system realistic model is picked out specifically is the closed loop transfer function, of servo-drive system;
Control performance parameter according to the described servo-drive system realistic model of described mathematics model analysis specifically comprises:
According to the closed loop transfer function, that picks out, calculate the open-loop transfer function of described servo-drive system realistic model;
According to described closed loop transfer function, and open-loop transfer function, calculate the frequency response of described servo-drive system realistic model;
Calculate the frequency performance parameter of described servo-drive system realistic model according to described frequency response.
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| CN108073087B (en) * | 2017-10-31 | 2020-08-28 | 北京精密机电控制设备研究所 | Electromechanical servo system control method under multidisciplinary comprehensive simulation platform environment |
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