CN101917159A - System and method for controlling running speed and displacement of linear motor - Google Patents
System and method for controlling running speed and displacement of linear motor Download PDFInfo
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Abstract
The invention belongs to a system and a method for controlling the running speed and the displacement of a permanent magnet liner synchronous motor (PMLSK). The system comprises a personal computer (PC) control platform, an inverter, a current sensor and a displacement sensor, wherein the PC control platform is provided with a multi-functional data acquisition card. The method adopted by the control system comprises the following steps of: performing initialization; starting the linear motor and operating the linear motor in a closed loop; and braking the linear motor. The multi-functional data acquisition card is directly inserted into a programmable communications interface (PCI) slot of the PC and integrated with the PC to serve as the core of the entire control system, data acquired by the data acquisition card is directly processed by using a central processing unit (CPU) in the PC and a mature and reliable operating system of the PC is utilized so that the processing and controlling capacities of the system are improved effectively; moreover, the system and the method have the characteristics of effectively enlarging the speed-regulating range, increasing the running speed and improving the displacement control accuracy for the running of the linear motor and meeting the requirement of the linear motor on high-speed and high-accuracy running and the like.
Description
Technical field
The invention belongs to permanent magnet linear synchronous motor (PMLSM) control technology, particularly a kind of technology of utilizing virtual instrument (Virtual Instrument) technology, controlling permanent magnet linear synchronous motor (PMLSM) motion by personal computer (PC) platform.
Background technology
Traditional permanent magnet linear synchronous motor (PMLSM) SERVO CONTROL is to adopt high speed digital signal processor (DSP) as the control system core, and the structure of its control system as shown in Figure 1; This control system is gathered the displacement of linear motor rotor and the phase current of electric motor primary winding by DSP, then by space vector pulse width modulation (SVPWM) signal of handling the back generation, the state that cut-offs of six power switchs of control inverter, make inverter output three-phase Control current, form travelling-magnetic-field on the electric motor primary surface, motor is moved under the effect in this journey ripple magnetic field.In actual control system, for the convenience of user operation, adopt personal computer (PC) machine as host computer and by RS232 or GPIB with DSP communicates, after the motion of DSP control PMLSM, thereby reach the purpose that the control linear electric motors move.
In the above-mentioned control system based on DSP, DSP is the core of The whole control system, though also used PC, just communicates and transfer of data with PC, does not utilize the high speed processing ability of PC processor.And the computing of DSP (processing) speed be have certain limit (as the TMS320F28x type DSP of TI company, its maximum processing (computing) speed is 150MIPS, promptly have only present ordinary PC to handle 1/1000 of (computing) speed, be difficult to adopt more complicated to permanent magnet linear synchronous motor (PMLSM), more accurate control and treatment method (algorithm), as fuzzy control processing method (algorithm), adaptive control processing method (algorithm), ANN Control processing method (algorithm) etc., thereby exist the speed adjustable range of motor operation narrow, speed is low, defectives such as displacement control precision difference.
Summary of the invention
The objective of the invention is defective at the background technology existence, a kind of linear electric motors speed of service of research and design and displacement control system and control method thereof are to reach the purposes such as speed adjustable range, the speed of service and displacement control precision of effective raising at the linear electric motors operation.
Solution of the present invention is to utilize virtual instrument (Virtual Instrument) technology, in control system, adopt the multifunctional data acquisition card image data, and be inserted in the PCI slot of PC, combine together with PC, replace high speed digital signal processor (DSP) in the former control system as the core of The whole control system, promptly directly utilize the CPU in the PC that the data that the data capture card collects are handled, utilize the PC maturation simultaneously and reliable operating system, improve the processing of system effectively, control ability, speed, the precision of displacement control and the operational efficiency of system etc., thus realize its goal of the invention.Therefore, control system of the present invention comprises PC, inverter and the current sensor that its output current is sampled, displacement transducer to linear electrode rotor position intelligence sample, key is at inverter, also be provided with data collecting card between current sensor and displacement transducer and the computer, this data collecting card directly inserts in interior and PC composition (computer) controlling platform of PCI slot of PC, the 6 way word delivery outlets power switch interface corresponding with inverter of data collecting card connects, the analog input port of data collecting card is connected with two output ports of current sensor respectively to obtain the voltage signal after its conversion of current sensor, and data collecting card quadrature decoder port directly is connected to obtain the displacement of linear electric motors with the output port of displacement transducer.
Described data collecting card is the multifunctional data acquisition card based on pci bus; As: PCI-6221 or PCI-6289 data collecting card (production of American National instrument (NI) company).
Above-mentioned control system comprises the control method of the linear electric motors speed of service and displacement:
A. initialization process: the driver that on original operating systems of computer platforms basis, calls data collecting card, data acquisition card digital output, analog input and quadrature decoder device are carried out initialization, then the control and treatment program (method) of the linear electric motors speed of service and displacement control system is inserted in the internal memory of PC, called in order to central processing unit (CPU);
B. linear electric motors start: during startup, send startup (control) signal by the computer control platform, making inverter output three-phase phase difference is the sinusoidal current of 120 degree, motor is done the open loop campaign with speed and the direction set under the effect of travelling-magnetic-field, make motor run to the position of dead-center position or setting;
C. linear electric motors operation with closed ring: after linear electric motors (mover) arrive dead-center position or desired location, displacement transducer and current sensor start (work), current sensor converts the current signal that collects to voltage signal, displacement transducer is gathered the displacement signal of motor, import the central processing unit of PC simultaneously through data collecting card, obtain the electric current and the current displacement of electric mover of motor three phase windings, speed, and with the displacement of targets of setting, speed compares, and send the adjustment signal to inverter according to its result, to regulate the running status (speed of linear electric motors, acceleration, displacement), realization is to the closed-loop control of linear electric motors, keep its proper motion;
D. the braking of linear electric motors: when the user sent urgent halt instruction, the computer control platform sent brake control signal through data collecting card and inverter to linear electric motors, and linear electric motors are out of service; And the shift value (displacement of targets) of the shift value that collects when displacement transducer and setting is when equating, the computer control platform sends brake signal through data collecting card and inverter to linear electric motors, the motor stop motion.
The control and treatment program of the above-mentioned linear electric motors speed of service and displacement control system comprises: fuzzy control handling procedure (method), adaptive control handling procedure (method), ANN Control handling procedure (method), fuzzy control and treatment program (method).
The present invention directly inserts multifunctional data acquisition card in the PCI slot of PC, combines together as the core of The whole control system with PC, directly utilize the CPU in the PC that the data that the data capture card collects are handled, and utilize the PC maturation and reliable operating system, improved the processing, control of system effectively; Overcome background technology and adopted that high speed digital signal processor (DSP) disposal ability that carries microprocessor is poor, narrow to the speed adjustable range of motor operation, speed is low, defectives such as displacement control precision difference.And have speed adjustable range, the speed of service and the displacement control precision that can effectively improve at the linear electric motors operation, satisfy characteristics such as requirement to linear electric motors high speed, high accuracy operation.
Description of drawings
Fig. 1 is for adopting high speed digital signal processor (DSP) as control system control core system configuration schematic diagram; Wherein: DSP is the independent digital signal processor that is provided with;
Fig. 2. be control system structural representation of the present invention (simultaneously as Figure of abstract); Among the figure: frame of broken lines inside is divided into computer (PC) platform, wherein data collecting card directly inserts in the PCI slot in the PC to fixedly connected with PC and is integral, and it is shifted out PC illustrate outward in order to know the annexation, this accompanying drawing spy that express computer (PC) platform and inverter etc.;
Fig. 3. the schematic flow sheet of handling in the cycle at a PWM (pulse-width modulation) for embodiment 1 control system.
Embodiment
Embodiment 1: present embodiment is an example with permanent magnet linear synchronous motor (PMLSM) control system that adopts fuzzy control to handle: PC adopts Intel Duo 2 double-core 2.4GHz, 64 bit CPUs, in save as 2G; The model that data collecting card adopts NI company to produce is the PCI-6221 multifunctional data acquisition card, wherein: pci bus, maximum bandwidth is 132MB/s, be provided with 16 single-ended analog input channel (resolution 16bits, input range ± 10V, sample rate 250ks/s), 8 difference analogue input channel (resolution 16bits, input range ± 10V, maximum sample rate 250ks/s), 2 analog output channel (resolution 16bits, output area ± 10V, maximum output speed 833ks/s), 24 digital I/O mouth (maximum clock speed 1MHz, single channel current driving force 24mA), 2 counter/timers (resolution 32bits, peak signal source frequency 80MHz, minimum pulse input width 12.5ns); Inverter adopts 6 insulated gate bipolar transistors (IGBT) as power switch; It is the Hall current sensor (camellia port, Nanjing connection sensing observation and control technology Co., Ltd produces) of CS100B that current sensor adopts model, and its electric current input range is ± 200A; Displacement transducer adopts the MTSHB5 type magnetic grid displacement transducer of Italian GIVI company, and its precision is 10 μ m.
The present embodiment control system to the control method of the linear electric motors speed of service and displacement is:
A. the initialization process of data: at first data acquisition card digital output, analog input and quadrature decoder device are carried out initialization and (select 6 way word output channels, two-way analog input channel and 1 quadrature decoder device), to insert in the internal memory of PC based on the linear electric motors speed of service and the displacement control system program of fuzzy control then, in order to calling of central processing unit (CPU);
B. linear electric motors start: computer control platform invoke space vector pulse width modulation (SVPWM) instruction, send enabling signal, making inverter output three-phase phase difference is the sinusoidal current of 120 degree, motor is done the open loop campaign with speed and the direction set under the effect of travelling-magnetic-field, make motor (mover) run to the position of dead-center position or setting;
C. linear electric motors operation with closed ring: after linear electric motors (mover) arrived dead-center position, displacement transducer and current sensor started (work), Displacement Feedback P
fWith displacement set point P
sDeviation is relatively regulated through fuzzy controller, produces speed setting value (the Displacement Feedback time differential is the speed feedback of mover); Speed feedback and the speed setting value deviation after is relatively regulated the back through fuzzy controller and is produced q axle (under the d-q coordinate system) the reference current component i that is used for motor torque control
QrefThe analog input of data collecting card is gathered the three-phase current of linear motor stator electric winding by current sensor, and be translated into (under the d-q coordinate system) excitation feedback current i
dWith torque feedback current i
q, i
dWith 0 comparison, i
qWith i
QrefAfter regulating through fuzzy controller simultaneously, deviation relatively, relatively produces the reference voltage component v under the d-q coordinate system
DrefAnd v
Qrefv
DrefAnd v
QrefProcess Park inverse transformation converts the reference voltage component v under the alpha-beta coordinate system to again
α refAnd v
β refWork as v
α refAnd v
β refAnd the place sector number just can utilize the SVPWM technology when known, produces pwm control signal and comes control inverter, realize to linear electric motors closed-loop control, keep its proper motion;
D. the braking of linear electric motors: when the user sent urgent halt instruction, the computer control platform sent brake control signal through data collecting card and inverter to linear electric motors, and linear electric motors are out of service immediately; Behind information that displacement transducer collects input computer control platform, if when the feedback displacement equates with the displacement information of user's setting, the computer control platform sends brake control signal through data collecting card and inverter to linear electric motors, the motor stop motion.
Fig. 3 is the schematic flow sheet that the present embodiment control system is handled in the cycle at a PWM (pulse-width modulation).The present embodiment test result: add the load of 10N in the experiment to motor, the initial velocity that is provided with on the software front panel is that 0cm/s, maximal rate are 30cm/s, and acceleration is 0.1m/s
2, displacement of targets is 200cm.The operation result motor is according to the rate curve motion that configures, and the position, the error that finally move to setting exactly are 50 μ m, have reached extraordinary control effect.
Embodiment 2: present embodiment is an example with permanent magnet linear synchronous motor (PMLSM) control system that adopts the fuzzy control and treatment: present embodiment control system and configuration thereof are all identical with embodiment 1, and its control method is:
At first, data acquisition card digital output, analog input and quadrature decoder device are carried out initialization (select 6 way word output channels, two-way analog input channel and 1 quadrature decoder device), to insert in the internal memory of PC based on the fuzzy linear electric motors speed of service and displacement control system program then, in order to calling of central processing unit (CPU);
Then, module takes place by computer control platform invoke SVPWM, send startup (control) signal, making inverter output three-phase phase difference is the sinusoidal current of 120 degree, motor is done the open loop campaign with speed and the direction set under the effect of travelling-magnetic-field, make motor run to the position of dead-center position or setting;
The closed-loop control operational mode of motor admission velocity and displacement: Displacement Feedback P
fWith displacement set point P
sDeviation is relatively regulated through the PID controller, produces speed setting value (the Displacement Feedback time differential is the speed feedback of mover); Speed feedback and the speed setting value deviation after is relatively regulated the back through the PID controller and is produced q axle (under the d-q coordinate system) the reference current component i that is used for motor torque control
QrefThe analog input of data collecting card is gathered the three-phase current of linear motor stator electric winding by current sensor, and be translated into (under the d-q coordinate system) excitation feedback current i
dWith torque feedback current i
q, i
dWith 0 comparison, i
qWith i
QrefAfter regulating through the PID controller simultaneously, deviation relatively, relatively produces the reference voltage component v under the d-q coordinate system
DrefAnd v
Qrefv
DrefAnd v
QrefProcess Park inverse transformation converts the reference voltage component v under the alpha-beta coordinate system to again
α refAnd v
β refWork as v
α refAnd v
β refAnd the place sector number just can utilize the SVPWM technology when known, produces pwm control signal and comes control inverter, realizes the closed-loop control to linear electric motors; Fuzzy controller main being responsible in system's running regulated the ratio in the PID controller, integration and three parameters of differential, thereby makes control system have better adaptive ability, the control precision of responding ability and Geng Gao faster;
At last, when the user sends urgent halt instruction, the computer control platform sends brake control signal through data collecting card and inverter to linear electric motors, linear electric motors are out of service immediately, or the information that collects when displacement transducer input computer control platform, if when the feedback displacement equated with the displacement information that the user sets, the computer control platform sent brake control signal through data collecting card and inverter to linear electric motors, the motor stop motion.
Embodiment 3: present embodiment is an example with permanent magnet linear synchronous motor (PMLSM) the field orientation vector control system that adopts the ANN Control processing method: present embodiment control system and configuration thereof are all identical with embodiment 1, and its control method is:
At first, data acquisition card digital output, analog input and quadrature decoder device are carried out initialization (select 6 way word output channels, two-way analog input channel and 1 quadrature decoder device), to insert in the internal memory of PC based on the linear electric motors speed of service and the displacement control system program of neural net then, in order to calling of central processing unit (CPU);
Then, module takes place by computer control platform invoke SVPWM, send startup (control) signal, making inverter output three-phase phase difference is the sinusoidal current of 120 degree, motor is done the open loop campaign with speed and the direction set under the effect of travelling-magnetic-field, make motor run to the position of dead-center position or setting;
Secondly, the closed loop control mode of motor admission velocity and displacement: the analog input of data collecting card is gathered the three-phase current of linear motor stator electric winding by current sensor, by coordinate transform the electric current under the three phase static coordinate system is converted into excitation feedback current i under the d-q coordinate system
dWith torque feedback current i
q, with given exciting current i
DrefWith torque current i
QrefCompare, produce given exciting voltage v through nerve network controller
DrefWith torque voltage v
Qref, process Park inverse transformation converts the reference voltage vector under the alpha-beta coordinate system to again, with deciding the output of space vector PWM waveform.Displacement Feedback and displacement set point relatively produce speed setting value through nerve network controller.The Displacement Feedback time differential is the speed feedback of mover, and speed feedback and given speed compare, and regulates generation i through controller
Qref, so just constituted three closed loop field orientation vector control systems based on ANN Control.Ratio in the nerve network controller, integration and three parameters of differential are regulated by refreshing network controller, thereby make control system have better adaptive ability, more highly-responsive and control precision;
At last, when the user sends urgent halt instruction, the computer control platform sends brake control signal through data collecting card and inverter to linear electric motors, linear electric motors are out of service immediately, or the information that collects when displacement transducer input computer control platform, if when the feedback displacement equated with the displacement information that the user sets, the computer control platform sent brake control signal through data collecting card and inverter to linear electric motors, the motor stop motion.
Claims (5)
1. the linear electric motors speed of service and displacement control system, comprise PC, inverter and the current sensor that its output current is sampled, displacement transducer to linear electrode rotor position intelligence sample, it is characterized in that at inverter, also be provided with data collecting card between current sensor and displacement transducer and the computer, this data collecting card directly inserts in the interior and PC composition controlling platform of PCI slot of PC, the 6 way word delivery outlets power switch interface corresponding with inverter of data collecting card connects, the analog input port of data collecting card is connected with two output ports of current sensor respectively to obtain the voltage signal after its conversion of current sensor, and data collecting card quadrature decoder port directly is connected to obtain the displacement of linear electric motors with the output port of displacement transducer.
2. by the described linear electric motors speed of service of claim 1 and displacement control system, it is characterized in that described data collecting card is the multifunctional data acquisition card based on pci bus.
3. by the described linear electric motors speed of service of claim 2 and displacement control system, it is characterized in that described multifunctional data acquisition card based on pci bus is PCI-6221 or PCI-6289 data collecting card.
4. by the described linear electric motors speed of service of claim 1 and control method that displacement control system adopted, comprising:
A. initialization process: the driver that on original operating systems of computer platforms basis, calls data collecting card, data acquisition card digital output, analog input and quadrature decoder device are carried out initialization, then the control and treatment program of the linear electric motors speed of service and displacement control system is inserted in the internal memory of PC, called in order to central processing unit;
B. linear electric motors start: during startup, send enabling signal by the computer control platform, making inverter output three-phase phase difference is the sinusoidal current of 120 degree, and motor is done the open loop campaign with speed and the direction set under the effect of travelling-magnetic-field, make motor run to the position of dead-center position or setting;
C. linear electric motors operation with closed ring: after linear electric motors arrive dead-center position or desired location, displacement transducer and current sensor start, current sensor converts the current signal that collects to voltage signal, displacement transducer is gathered the displacement signal of motor, import the central processing unit of PC simultaneously through data collecting card, obtain the electric current and the current displacement of electric mover of motor three phase windings, speed, and with the displacement of targets of setting, speed compares, and send the adjustment signal to inverter according to its result, to regulate the running status of linear electric motors, realize closed-loop control to linear electric motors, keep its proper motion;
D. the braking of linear electric motors: when the user sent urgent halt instruction, the computer control platform sent brake control signal through data collecting card and inverter to linear electric motors, and linear electric motors are out of service; And the shift value that collects when displacement transducer is when equating with the shift value of setting, and the computer control platform sends brake signal through data collecting card and inverter to linear electric motors, the motor stop motion.
5. by the control method of the described linear electric motors speed of service of claim 4 and displacement, it is characterized in that described control and treatment program is fuzzy control handling procedure, adaptive control handling procedure, ANN Control handling procedure or fuzzy control and treatment program.
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