CN102637011A - Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment - Google Patents

Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment Download PDF

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CN102637011A
CN102637011A CN2011103909667A CN201110390966A CN102637011A CN 102637011 A CN102637011 A CN 102637011A CN 2011103909667 A CN2011103909667 A CN 2011103909667A CN 201110390966 A CN201110390966 A CN 201110390966A CN 102637011 A CN102637011 A CN 102637011A
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robust
control
error
ipm
parameter adjustment
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CN102637011B (en
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王丽梅
郑浩
赵希梅
孙宜标
刘春芳
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Shenyang University of Technology
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Abstract

A robust control method for directly driving a numerical control platform based on coordinate transformation and parameter adjustment includes the steps: firstly, determining the initial phase of a motor rotor; secondly, performing coordinate transformation and parameter adjustment for contour errors to obtain position errors, namely calculating positional deviation and judging whether to adjust positions or not; and finally, executing robust control algorithm, outputting control quantity and driving the numerical control platform. A control system used in the method comprises a voltage regulation circuit, a rectifier filter unit, an IPM (intelligent power module) inverter unit, a DSP (digital signal processor), a Hall sensor, a grating bar, a current sampling circuit, a positioning sampling circuit and an IPM isolation driving protection circuit. A robust contour controller is used for directly driving the numerical control platform. Based on a complete coordinate transformation and parameter adjustment function, the robust contour controller can be applied to any smooth contour curves, device modeling errors and interference are avoided, and stability of the robust control system is improved.

Description

Directly drive the digital control platform robust control method based on coordinate transform and parameter adjustment
Technical field
The invention belongs to fields of numeric control technique, relate to and a kind ofly directly drive the digital control platform robust control method based on coordinate transform and parameter adjustment.
Background technology
Numerically-controlled machine to accurate, at a high speed, direction compound, intelligent, environmental protection develops.Accurate and High-speed machining is had higher requirement higher dynamic perfromance and control accuracy, higher speed of feed and acceleration, lower vibration noise and littler wearing and tearing to transmission and control thereof.Directly drive feeding system utilizes linear electric motors can directly produce the characteristics of linear thrust, no longer needs middle transmission links such as screw-nut body during system forms.The application on machine tool feed drives of linear electric motors and Drive Control Technique thereof makes the drive mechanism of lathe great change occur, and makes machine tool capability that new leap arranged.
The linear servo system of numerically-controlled machine adopts direct drive mode, has eliminated a series of harmful effects that the mechanical motion mapping device is brought, and therefore, in the little feed servo system of high precision, fast-response, has very remarkable advantages.But this has also increased the difficulty in the control.
Machine tool control system generally reduces tracking error with design single shaft feeding driving shaft.Yet,, give the contour curve comparison-tracking error of design more important for single shaft feeding driving shaft quadrature error component about processing.Up to the present proposed various for reducing the control method of profile errors.Because each feeding driving shaft profile and tracking error all are used for calculation control input in most methods, this possibly have the decline of profile tracking performance.Simultaneously, consider that all adjustment brings difficulty to controller parameter in each feeding driving shaft profile and tracking error.
All be converted into the quadrature error component to the tracking error of each driving shaft and for the tangent line error component of desirable contour curve based on the contour outline control method of the twin shaft feed drive system of coordinate conversion.Because this method has obtained two single-input single-output systems that separate about quadrature and tangential direction, the controller of each direction can be by independent design.Yet this simplifies the controller parameter adjustment, and control system stability only could guarantee when the speed Dynamic matching of two feed shafts and desirable slope track.A kind of controller; Decomposing profile errors for desirable profile traces is forward and tangential error component; And operation obtains the process that a kind of non-mistake is cut for machine tool; Work coordinate system is defined within the assigned address of feed drive system in view of the above, and control system power is rewritten according to this coordinate system.The work coordinate system axle of the quadrature of corresponding ideal contour curve and tangential direction and quadrature error component are construed to the approximate of TP curve.Though this method provides control system stability to any desired contour curve, the difference between TP sum of errors quadrature error component possibly cause a great profile errors.
Summary of the invention
To the practical problems that exists in the existing control technology; The invention provides and a kind ofly directly drive the digital control platform robust control method based on coordinate transform and parameter adjustment; Based on the complete coordinate system conversion and the contouring control system design of parameter adjustment, disturb the stability that robust control system is provided for the equipment modeling sum of errors.
For the profile errors that the difference that compensates between the TP sum of errors quadrature error component causes, the quadrature error component is replaced by the error signal of a redetermination in the profile indexing means, has proposed a robust contour method based on the pusher Sliding-Mode Control Based.Yet, in the design robust controller, required the second derivative of redetermination error signal and the upper limit of interference derivative, comprise friction force.
The inventive method comprises based on the coordinate system conversion with reference to method of adjustment and robust Controller Design; The adjusting of ride gain reduces more to the quadrature error component of ideal curve than the tangent line error component; The error convergence speed that makes new coordinate system with reference to method of adjustment is by adjustment independently, and the reference signal adjustment is as shown in Figure 2.Robust controller is considered to disturb and the equipment modeling error, has only the nominal value of device parameter and the higher limit of interference magnitude to be asked to.
The control system that the inventive method adopts comprises voltage-regulating circuit, rectification filtering unit, IPM inversion unit, DSP, Hall element, grating chi, current sampling circuit, position sampling circuit, IPM isolation drive holding circuit.
Alternating voltage exports the rectification filtering unit input end to, and the rectification filtering unit output terminal inserts the IPM inversion unit, and IPM links to each other with motor; The motor fuselage is equipped with the grating chi; Grating chi link position sample circuit input end, Hall element is gathered motor current signal, exports current sampling circuit to; Current sampling circuit output terminal and position sampling circuit output end all insert DSP; DSP outputs signal to voltage-regulating circuit input end and IPM isolation drive holding circuit, and voltage-regulating circuit is adjusted alternating voltage, and IPM isolation drive holding circuit inserts the IPM inversion unit.Be that the incremental optical-electricity encoder of 400 lines detects through resolution when speed and position signalling, it produces pulse signal A and B, delivers to the event capturing mouth of DSP, utilizes the tally function of catching mouthful unit to obtain the rotating speed of rotor, and the position is obtained by the Z signal.
Of the present inventionly directly drive the digital control platform robust control method based on coordinate transform and parameter adjustment, concrete steps are following:
Step 1: the initial phase of confirming electric mover;
Gather electric mover position, speed and current information respectively through rotor position sample circuit and current sampling circuit.
Step 2: profile errors is carried out coordinate transform, and the line parameter of going forward side by side adjustment obtains site error, promptly carries out position deviation and calculates, and judges whether to carry out position adjustments, is then carry out step 3, otherwise carries out Current Regulation;
Step 2.1: profile errors is carried out coordinate transform
Suppose:
(a1) ideal trajectory r iWith its derivative
Figure BDA0000114480180000021
With
Figure BDA0000114480180000022
Can get;
(a2) local coordinate system ∑ lInclination angle theta and its derivative
Figure BDA0000114480180000023
With Can get;
(a3) feed drive system position x and its derivative are measurable;
(a4) for 2 device parameter values, all can get;
Confirm following control according to above-mentioned hypothesis, comprise input voltage v, matrix H, E and the I of driving shaft motor e:
Figure BDA0000114480180000031
H = diag { m i + n i ( 2 π p i ) 2 2 π p i } ,
E = diag { c i + d i ( 2 π p i ) 2 2 π k i p i } ,
I e = 0 1 - 1 0 - - - ( 1 )
M wherein i(＞0), c i(>=0) and f iBe respectively driving shaft i table quality, viscous friction coefficient and driving force, wherein K vAnd K pBe speed and position feedback gain matrix.They are had only the diagonal matrix of positive element by hypothesis.Following equality is set up:
Figure BDA0000114480180000035
Because matrix H and R are nonsingular, following relation of plane is for realizing that equality (2) need be satisfied:
Figure BDA0000114480180000036
From top equality, through feedback gain matrix K in the appropriate allocation equality (3) vAnd K pReach a conclusion, when t levels off to when infinite e lLevel off to and 0 can get.In addition, controller ∑ in Fig. 1 lEach can adjust error convergence speed.If for e L2Feedback gain is set up greater than e L1, for ideal curve, profile errors can be reduced sooner than tangent line tracking error.n iFor driving the motor inertia of feed drive system; k iBe torque-voltage transitions rate; Pi is the joint of ball-screw; Ki is torque-voltage transitions rate.
Step 2.2: parameter adjustment, specific as follows:
For reducing tangential error component e L1With increase control system stability, the controller little feedback gain that is supposed to, a big tracking error e L1At quadrature error component e L2With the TP error e cBetween possibly produce big difference.In this case, even e L2Can be converged zero profile errors e cAlso no longer be suppressed.
This parameter regulation means slightly moves ideal position and local coordinate system, reduces the different of quadrature error and TP error. because a tracking error is along l 1Exist, in error e L2And e cBetween possibly have a unacceptable difference.For a scheme that reduces this difference is to estimate nearest position, r at desirable contour curve to physical location x aExpression.Yet,, be difficult to the nearest position of real-time accurate Calculation if desirable contour curve is complicated.And if desirable contour curve is recessed for x, several nearest positions to physical location x possibly exist.Even nearest position estimated, the method that proposes about the proximal most position local coordinate system can not be applied in the error, because along the tracking error of desirable contour curve approximate zero always, no longer maybe along the tracking of desirable contour curve.Like this, a local coordinate system is produced, and its direction is similar with the coordinate system of proximal most position, and its initial point is near the ideal position of desirable contour curve, r nAnd ∑ nWith redetermination is ∑ nReplace rotation matrix R and tracking error e in the equality (1) wAnd e l, produce e L2And e cDifference.The explanation generation is a ∑ below nMethod.
Suppose along l 1Tracking error a negative value (e is for example arranged L1Bear) because for reducing e L1The controller gain that distributes is normal than being e L2That distributes is smaller.Also suppose ideal position r and along desirable contour curve closest approach r aBetween distance and tracking error e L1Big or small approximately equivalent.In addition, along the ideal velocity of this section near constant.So, require time t through this section dCan be estimated by following:
Figure BDA0000114480180000041
Fig. 2 coordinate system ∑ aMiddle initial point (r a) and inclination angle (θ a), be in the proximal most position of desirable contour curve to x, can be estimated by following:
r a＝r(t-t d)，θ a＝θ(t-t d) (5)
Wherein r () and θ () show the function of time.The ideal position r that revises nIn Fig. 2, be expressed as:
r n＝r+R ad r，d r＝[0，-d ra2] T (6)
R wherein aIt is ∑ among Fig. 2 aTo ∑ wRotation matrix, be θ aA function.Control input equality (1) is replaced by following formula:
Figure BDA0000114480180000042
E wherein Wn=x-r nSo, the control power below obtaining, e N1And e N2Speed of convergence can be adjusted independently:
Figure BDA0000114480180000043
Step 3: carry out the robust control algorithm, output controlled quentity controlled variable v drives digital control platform.
In the actual processing, comprise that the interference of non-linear friction and cutting force and equipment modeling mistake exists really, therefore, the controller equality should be expanded and consider to disturb and the equipment modeling error.The feeding that contains BOUNDED DISTURBANCES vector w drives dynamics.
Figure BDA0000114480180000044
Controller below proposing:
Figure BDA0000114480180000051
H ^ = diag { m ^ i + n ^ i ( 2 π p ^ i ) 2 2 π k ^ i p ^ i }
E ^ = diag { c ^ i + d ^ i ( 2 π p ^ i ) 2 2 π k ^ i p ^ i } - - - ( 10 )
Wherein representes the nominal value of z, and signal
Figure BDA0000114480180000055
(wherein Λ is a diagonal matrix and the constant that has only positive element) is used the rate signal of the replacement
Figure BDA0000114480180000056
as follow-up stability analysis.Symbol δ v is an input vector realizing robust control.Through approximate distribution equations feedback gain matrix K v, K pAnd Λ, when leveling off to, t can obtain e when infinite nLevel off to zero.In addition, ∑ in Fig. 2 nThe error convergence speed of each can be by independent adjustment.
The robust control algorithm guarantees control system stability, even when the equipment modeling sum of errors disturbs existence.Robust control obtains following equality:
δv = - η R a e v ρ ,
Figure BDA0000114480180000058
Wherein || a|| is the Euclid norm of a, and ε is little positive constant.
In order to show the robust stability of proposition system, Leah Pu Nuofu function the candidate be employed.
E reaches a conclusion vAnd e nBe consistent final bounded.So, also be consistent final bounded from
Figure BDA0000114480180000059
Figure BDA00001144801800000510
.Therefore, though excessive value can reduce control performance, the controller of proposition can improve robust stability.
Beneficial effect:, proposed a robust profile controller to directly driving digital control platform.This method based on a complete coordinate system conversion and a parameter regulation function, can be applied to any smooth contour curve, and disturbing for the equipment modeling sum of errors provides robust control system stability.The validity of robust contouring control system has been considered big modeling error in the inertia that feed drive system is promoted, the following method of using development can realize the accuracy of sub-micron, and expands to the cutting of 3-5 axle.
Description of drawings
Fig. 1 is an embodiment of the invention control system block diagram;
Fig. 2 is an embodiment of the invention parameter adjustment synoptic diagram;
Fig. 3 is for realizing embodiment of the invention hardware control system structured flowchart;
Fig. 4 is an embodiment of the invention electric machine control system main circuit schematic diagram;
Fig. 5 is A of the present invention, B phase current sampling circuit theory diagrams;
Fig. 6 is an embodiment of the invention grating chi signal sample circuit schematic diagram;
Fig. 7 is an embodiment of the invention IPM hardware driving circuit theory diagrams;
Fig. 8 is a vector control system program flow diagram in the embodiment of the invention control method;
Fig. 9 is the sub-control program process flow diagram of embodiment of the invention control method position adjustments Interrupt Process.
Embodiment
Below in conjunction with accompanying drawing the present invention is further specified.
The present invention is applied to the X-Y digital control platform of a linear drive motor, and the position of this platform is connected to the linear encoder of each driving shaft, and the sensor resolution of linear encoder is 0.1 micron.The speed of each driving shaft is by reverse poor the calculating of position measurement, and this sampling period is 2 milliseconds.
(1) system hardware structure
Directly drive the digital control platform robust control system based on coordinate transform and parameter adjustment and comprise voltage-regulating circuit, rectification filtering unit, IPM inversion unit, DSP, Hall element, grating chi, current sampling circuit, position sampling circuit, IPM isolation drive holding circuit.The structure of system is as shown in Figure 3, and voltage-regulating circuit adopts reverse voltage regulating module EUV-25A-II, can realize that 0～220V isolates pressure regulation.Rectification filtering unit adopts the uncontrollable rectification of bridge-type, and big capacitor filtering cooperates suitable resistance capaciting absorpting circuit, can obtain the required constant DC voltage of IPM work.IPM adopts the 6MBP50RA060 of company of Fuji SPM, withstand voltage 600V, maximum current 50A, maximum operation frequency 20kHz.IPM is with four groups of independently 15V driving power power supplies.(P, N), (W), main terminal can be realized current delivery with the screw retention that carries to lead-out terminal to the primary power input terminal for U, V.P, N are the primary power input terminal behind the rectifying conversion smothing filtering of frequency converter, and P is an anode, and N is a negative terminal, and the three-phase alternating current of inverter output is connected to motor through lead-out terminal U, V, W.Control system main circuit schematic diagram is as shown in Figure 4.
DSP selects the TMS320F2812 processor for use, its supporting development board comprise traget ROM, analog interface, eCAN interface, serial boot ROM, user lamp, reset circuit, configurable be the outer 256K*16 position RAM of the asynchronous serial port of RS232/RS422/RS485, SPI synchronous serial interface and sheet.
Current sample adopts the LEM Hall current sensor LT58-S7 of company in the control system.Detect A, B phase current by two Hall current sensors; Obtain current signal,, convert the voltage signal of 0～3.3V to through current sampling circuit; At last convert the binary number of 12 precision to, and be kept in the numerical value register by the A/D modular converter of TMS320LF2812.The current sampling circuit of A, B phase is as shown in Figure 5.Adjustable resistance VR2 conditioning signal amplitude, adjustable resistance VR1 conditioning signal side-play amount through the adjusting to these two resistance, can be adjusted to 0～3.3V with signal, it is sent into AD0, the AD1 pin of DSP again.Stabilivolt among the figure is in order to prevent that the signal of sending into DSP from surpassing 3.3V, causes DSP to be damaged by high pressure.Operational amplifier adopts OP27, and power supply connects positive and negative 15V voltage, the indirect decoupling capacitor on voltage and ground.Circuit input end connects capacitor filtering, disturbs to remove high-frequency signal, improves sampling precision.
The A phase and the B phase pulse signal of the output of grating chi will be isolated signal through rapid light coupling 6N137, convert signal level into 3.3V by 5V through bleeder circuit then, are connected to two-way quadrature coding pulse interface QEP1 and the QEP2 of DSP at last.Circuit theory is as shown in Figure 6.Fig. 7 has provided the schematic diagram of six road isolated drive circuits.It is to be noted IPM emergency protection signal pin right be non-repetition transient fault; In native system, realize through following measure: the fault of IPM output signal is received
Figure BDA0000114480180000071
pin of DSP through optocoupler, and DSP in time puts high-impedance state with all task manager output pins when guaranteeing that IPM breaks down.
(2) of the present inventionly directly drive the digital control platform robust control method based on coordinate transform and parameter adjustment, concrete steps are following:
Step 1: the initial phase of confirming electric mover;
Gather electric mover position, speed and current information respectively through rotor position sample circuit and current sampling circuit.
Step 2: profile errors is carried out coordinate transform, and the line parameter of going forward side by side adjustment obtains site error, promptly carries out position deviation and calculates, and judges whether to carry out position adjustments, is then carry out step 3, otherwise carries out Current Regulation;
Step 2.1: profile errors is carried out coordinate transform
Suppose:
(a1) ideal trajectory r iWith its derivative
Figure BDA0000114480180000072
With
Figure BDA0000114480180000073
Can get;
(a2) local coordinate system ∑ lInclination angle theta and its derivative
Figure BDA0000114480180000074
With
Figure BDA0000114480180000075
Can get;
(a3) feed drive system position x and its derivative are measurable;
(a4) for 2 device parameter values, all can get;
Confirm following control according to above-mentioned hypothesis, comprise input voltage v, matrix H, E and the I of driving shaft motor e:
Figure BDA0000114480180000081
H = diag { m i + n i ( 2 π p i ) 2 2 π p i } ,
E = diag { c i + d i ( 2 π p i ) 2 2 π k i p i } ,
I e = 0 1 - 1 0 - - - ( 1 )
M wherein i(＞0), c i(>=0) and f iBe respectively driving shaft i table quality, viscous friction coefficient and driving force, wherein K vAnd K pBe speed and position feedback gain matrix.They are had only the diagonal matrix of positive element by hypothesis.Following equality is set up:
Figure BDA0000114480180000085
Because matrix H and R are nonsingular, following relation of plane is for realizing that equality (2) need be satisfied:
Figure BDA0000114480180000086
From top equality, through feedback gain matrix K in the appropriate allocation equality (3) vAnd K pReach a conclusion, when t levels off to when infinite e lLevel off to and 0 can get.In addition, controller ∑ in Fig. 1 lEach can adjust error convergence speed.If for e L2Feedback gain is set up greater than e L1, for ideal curve, profile errors can be reduced sooner than tangent line tracking error.n iFor driving the motor inertia of feed drive system; k iBe torque-voltage transitions rate; Pi is the joint of ball-screw; Ki is torque-voltage transitions rate.
Step 2.2: parameter adjustment, specific as follows:
For reducing tangential error component e L1With increase control system stability, the controller little feedback gain that is supposed to, a big tracking error e L1At quadrature error component e L2With the TP error e cBetween possibly produce big difference.In this case, even e L2Can be converged zero profile errors e cAlso no longer be suppressed.
This parameter regulation means slightly moves ideal position and local coordinate system, reduces the different of quadrature error and TP error. because a tracking error is along l 1Exist, in error e L2And e cBetween possibly have a unacceptable difference.For a scheme that reduces this difference is to estimate nearest position, r at desirable contour curve to physical location x aExpression.Yet,, be difficult to the nearest position of real-time accurate Calculation if desirable contour curve is complicated.And if desirable contour curve is recessed for x, several nearest positions to physical location x possibly exist.Even nearest position estimated, the method that proposes about the proximal most position local coordinate system can not be applied in the error, because along the tracking error of desirable contour curve approximate zero always, no longer maybe along the tracking of desirable contour curve.Like this, a local coordinate system is produced, and its direction is similar with the coordinate system of proximal most position, and its initial point is near the ideal position of desirable contour curve, r nAnd ∑ nWith redetermination is ∑ nReplace rotation matrix R and tracking error e in the equality (1) wAnd e l, produce e L2And e cDifference.The explanation generation is a ∑ below nMethod.
Suppose along l 1Tracking error a negative value (e is for example arranged L1Bear) because for reducing e L1The controller gain that distributes is normal than being e L2That distributes is smaller.Also suppose ideal position r and along desirable contour curve closest approach r aBetween distance and tracking error e L1Big or small approximately equivalent.In addition, along the ideal velocity of this section near constant.So, require time t through this section dCan be estimated by following:
Figure BDA0000114480180000091
Fig. 2 coordinate system ∑ aMiddle initial point (r a) and inclination angle (θ a), be in the proximal most position of desirable contour curve to x, can be estimated by following:
r a＝r(t-t d)，θ a＝θ(t-t d) (5)
Wherein r () and θ () show the function of time.The ideal position r that revises nIn Fig. 2, be expressed as:
r n＝r+R ad r，d r＝[0，-d ra2] T (6)
R wherein aIt is ∑ among Fig. 2 aTo ∑ wRotation matrix, be θ aA function.Control input equality (1) is replaced by following formula:
Figure BDA0000114480180000092
E wherein Wn=x-r nSo, the control power below obtaining, e N1And e N2Speed of convergence can be adjusted independently:
Step 3: carry out the robust control algorithm, output controlled quentity controlled variable v drives digital control platform.
In the actual processing, comprise that the interference of non-linear friction and cutting force and equipment modeling mistake exists really, therefore, the controller equality should be expanded and consider to disturb and the equipment modeling error.The feeding that contains BOUNDED DISTURBANCES vector w drives dynamics.
Figure BDA0000114480180000094
Controller below proposing:
Figure BDA0000114480180000101
H ^ = diag { m ^ i + n ^ i ( 2 π p ^ i ) 2 2 π k ^ i p ^ i }
E ^ = diag { c ^ i + d ^ i ( 2 π p ^ i ) 2 2 π k ^ i p ^ i } - - - ( 10 )
Wherein
Figure BDA0000114480180000104
representes the nominal value of z, and signal
Figure BDA0000114480180000105
(wherein Λ is a diagonal matrix and the constant that has only positive element) is used the rate signal of the replacement
Figure BDA0000114480180000106
as follow-up stability analysis.Symbol δ v is an input vector realizing robust control.Through approximate distribution equations feedback gain matrix K v, K pAnd Λ, when leveling off to, t can obtain e when infinite nLevel off to zero.In addition, ∑ in Fig. 2 nThe error convergence speed of each can be by independent adjustment.
The robust control algorithm guarantees control system stability, even when the equipment modeling sum of errors disturbs existence.Robust control obtains following equality:
δv = - η R a e v ρ ,
Figure BDA0000114480180000108
Wherein || a|| is the Euclid norm of a, and ε is little positive constant.
In order to show the robust stability of proposition system, Leah Pu Nuofu function the candidate be employed.
E reaches a conclusion vAnd e nBe consistent final bounded.So, also be consistent final bounded from
Figure BDA0000114480180000109
Figure BDA00001144801800001010
.Therefore, though excessive value can reduce control performance, the controller of proposition can improve robust stability.
(3) system software is realized
The vector control system program flow diagram is as shown in Figure 4 in the inventive method.The master routine of software comprises system initialization; Open INT1, INT2 interruption; The permission timer interrupts; Timer Interrupt Process subroutine.Wherein initialize routine comprises and closes all interruptions, dsp system initialization, initialization of variable, task manager initialization, AD initialization and quadrature coding pulse QEP initialization.Interrupt service subroutine comprises protection interruption subroutine and T1 underflow interrupt service subroutine.Other parts such as mover initialization location, PID regulates, and transform vectors etc. are all carried out in timer TI underflow Interrupt Process subroutine.
The protection interrupt response that the IPM guard signal produces belongs to external interrupt, and the INT1 interrupt priority level is than the height of timer T1.IPM can send guard signal automatically in abnormal conditions such as overcurrent, overvoltages; This signal is connected to the power drive protection pin
Figure BDA0000114480180000111
of DSP in case there are abnormal conditions to take place through conversion; DSP can get into the protection interruption subroutine; At first forbid all interruptions; Block PWM output then and make motor stall at once, play the effect of protection motor and IPM.
The smooth startup of vector control system; Need know the initial position of mover; Utilize software can give the direct current of the logical constant amplitude of mover of motor; Make stator produce a constant magnetic field, the stationary magnetic field of this magnetic field and rotor interacts, and makes electric mover move to the position that two magnetic linkages overlap.And the reading of mover initial alignment, AD sampled value, the calculating of electric mover position, coordinate transform, PID are regulated, the generation of SVPWM waveform fiducial value is all accomplished in T1 underflow interrupt service subroutine.
In T1 underflow interruption subroutine, accomplish all vector control algorithm.Flow process is as shown in Figure 9.Have no progeny in the entering, judge whether mover has accomplished initial alignment earlier, if initial alignment is accomplished, then program at first starts the AD conversion, collects the current value of being sent back to by hardware among the DSP.The data of gathering at first are the result register (RESUTLx that is stored in separately; X=0; 1) in; From result register RESULT0 and RESULT1, read and try to achieve the C phase current after A is transformed to the Q15 form with the B phase current values mutually, again three-phase current is carried out coordinate transform and obtain biphase current under the rest frame.
Timer T2 adopts and increases counting mode continuously, and the quadrature coding pulse circuit is to the step-by-step counting of photoelectric encoder mutually with QEP2 two through QEP1, and warp calculates the physical location that can obtain motor.Through reading the direction of motion that the counting direction position can judge that mover is current.With the input as position control of the actual position that records and given position, position control output is as the specified rate of q shaft current.Encoder resolution is 1 micron, because the linear motor stator electric pole span is 32mm, therefore timer T2 period register being set is 32000.When the mover move distance reaches a pole span, timer T2 interrupt identification bit, T2 restarts counting from 0 simultaneously.Need to remove timer T2 interrupt flag bit after reading new count value.The maximal rate that reached of experiment is less, when the difference of this cycle of calculating count value and last cycle count value greater than 5000, just explain that counter has passed through overflow or underflow, correspondingly carries out the motor actual calculation of location.Position ring is far from the requirement that kind height of electric current loop to response speed to the requirement of response speed, stipulates that therefore the T1 underflow interrupts all will carrying out the adjusting of ac-dc axis electric current each time, and interrupts just carrying out a position PI adjusting per 10 times.
Vector controlled is directly accomplished the adjusting to mover q shaft current through coordinate transform, changes mover thrust, and flow process is as shown in Figure 8.Calculate through coordinate transform and space vector, and two vectors in six basic voltage vectors confirming according to the switching voltage vector table and zero vector, correspondingly calculate three comparand register CMPR1, the value of CMPR2 and CMPR3.With the SVPWM ripple that its assignment just can obtain expecting to relevant register, drive the operation of IPM control linear electric motors.
The inventive method finally realizes that by the control program that embeds in the dsp processor its control procedure is carried out according to the following steps:
Step 1 system initialization;
Step 2 allows TN1, TN2 to interrupt;
Step 3 starts the T1 underflow and interrupts;
The initialization of step 4 routine data;
Step 5 is opened total interruption;
Step 6 interrupt latency;
The sub-control program of step 7TN1 Interrupt Process;
Step 8 finishes;
Wherein the sub-control program of position adjustments Interrupt Process is according to the following steps in the step 6:
Step 6-1 position adjustments is interrupted sub-control program;
Step 6-2 reads encoder values;
Step 6-3 judges angle;
Step 6-4 calculates and has walked distance;
Step 6-5 executing location controller;
Step 6-6 carries out robust controller compensation external disturbance;
Step 6-7 calculates current order and output;
Step 6-8 interrupts returning;
Wherein the sub-control program of T1 Interrupt Process is according to the following steps in the step 7:
Step 7-1T1 interrupts sub-control program;
Step 7-2 keeps the scene intact;
Step 7-3 judges whether initial alignment; Be to get into step 4, otherwise get into step 10;
Step 7-4 current sample, CLARK conversion, PARK conversion;
Step 7-5 need to judge whether position adjustments; Otherwise get into step 9;
The sub-control program of step 7-6 position adjustments Interrupt Process;
Step 7-7 position control deviation calculation
The output of step 7-8 controlled quentity controlled variable is regulated
Step 7-9dq shaft current is regulated;
Step 7-10PARK inverse transformation;
Step 7-11 calculates CMPPx and PWM output;
Step 7-12 position sampling;
Step 7-13 initial alignment program;
It is on-the-spot that step 7-14 recovers;
Step 7-15 interrupts returning.

Claims (4)

1. one kind directly drives the digital control platform robust control method based on coordinate transform and parameter adjustment, and it is characterized in that: concrete steps are following:
Step 1: the initial phase of confirming electric mover;
Gather electric mover position, speed and current information respectively through rotor position sample circuit and current sampling circuit;
Step 2: profile errors is carried out coordinate transform, and the line parameter of going forward side by side adjustment obtains site error, promptly carries out position deviation and calculates, and judges whether to carry out position adjustments, is then carry out step 3, otherwise carries out Current Regulation;
Step 2.1: profile errors is carried out coordinate transform
Suppose:
(a1) ideal trajectory r iWith its derivative
Figure FDA0000114480170000011
With
Figure FDA0000114480170000012
Can get;
(a2) local coordinate system ∑ lInclination angle theta and its derivative
Figure FDA0000114480170000013
With
Figure FDA0000114480170000014
Can get;
(a3) feed drive system position x and its derivative are measurable;
(a4) for 2 device parameter values, all can get;
Confirm following control according to above-mentioned hypothesis, comprise input voltage v, matrix H, E and the I of driving shaft motor e:
Figure FDA0000114480170000015
H = diag { m i + n i ( 2 π p i ) 2 2 π p i } ,
E = diag { c i + d i ( 2 π p i ) 2 2 π k i p i } ,
I e = 0 1 - 1 0 - - - ( 1 )
M wherein i(＞0), c i(>=0) and f iBe respectively driving shaft i table quality, viscous friction coefficient and driving force, wherein K vAnd K pBe speed and position feedback gain matrix; They are had only the diagonal matrix of positive element by hypothesis, and following equality is set up:
Figure FDA0000114480170000019
Because matrix H and R are nonsingular, following relation of plane is for realizing that equality (2) need be satisfied:
From top equality, through feedback gain matrix K in the appropriate allocation equality (3) vAnd K pReach a conclusion, when t levels off to when infinite e lLevel off to and 0 can get, if for e L2Feedback gain is set up greater than e L1, for ideal curve, profile errors can be reduced sooner than tangent line tracking error, n iFor driving the motor inertia of feed drive system; k iBe torque-voltage transitions rate; p iIt is the joint of ball-screw; k iBe torque-voltage transitions rate;
Step 2.2: parameter adjustment, specific as follows:
Move ideal position and local coordinate system, reduce the different of quadrature error and TP error, because a tracking error is along l 1Exist, in error e L2And e cBetween possibly have a unacceptable difference, estimate nearest position at desirable contour curve to physical location x for reducing this difference, use r aExpression; A local coordinate system is produced, and its direction is similar with the coordinate system of proximal most position, and its initial point is near the ideal position of desirable contour curve, r nAnd ∑ nWith redetermination is ∑ nReplace rotation matrix R and tracking error e in the equality (1) wAnd e l, produce e L2And e cDifference, to produce be ∑ in explanation below nMethod:
Suppose along l 1Tracking error a negative value is arranged because for reducing e L1The controller gain that distributes is normal than being e L2That distributes is smaller, also supposes ideal position r and along desirable contour curve closest approach r aBetween distance and tracking error e L1Big or small approximately equivalent, in addition, along the ideal velocity of this section near constant, so, require time t through this section dCan be estimated by following:
The coordinate system ∑ aMiddle initial point r aAnd inclination angle theta a, be in the proximal most position of desirable contour curve to x, can be estimated by following:
r a＝r(t-t d)，θ a＝θ(t-t d) (5)
Wherein r () and θ () show the function of time;
The ideal position r that revises nBe expressed as:
r n＝r+R ad r，d r＝[0，-d ra2] T (6)
R wherein aIt is ∑ aTo ∑ wRotation matrix, be θ aA function, control input equality (1) is replaced by following formula:
Figure FDA0000114480170000022
E wherein Wn=x-r n
So, the control power below obtaining, e N1And e N2Speed of convergence can be adjusted independently:
Figure FDA0000114480170000023
Step 3: carry out the robust control algorithm, output controlled quentity controlled variable v drives digital control platform;
In the actual processing, comprise that the interference of non-linear friction and cutting force and equipment modeling mistake exists really, therefore, the controller equality should be expanded and consider to disturb and the equipment modeling error, and the feeding that contains BOUNDED DISTURBANCES vector w drives dynamics,
Figure FDA0000114480170000031
Controller below proposing:
Figure FDA0000114480170000032
H ^ = diag { m ^ i + n ^ i ( 2 π p ^ i ) 2 2 π k ^ i p ^ i }
E ^ = diag { c ^ i + d ^ i ( 2 π p ^ i ) 2 2 π k ^ i p ^ i } - - - ( 10 )
Wherein
Figure FDA0000114480170000035
The nominal value of expression z, signal Λ is a diagonal matrix and the constant that has only positive element, signal e in the formula vBe used replacement as follow-up stability analysis
Figure FDA0000114480170000037
Rate signal, symbol δ v is an input vector realizing robust control;
Through approximate distribution equations feedback gain matrix K v, K pAnd Λ, when leveling off to, t can obtain e when infinite nLevel off to zero; In addition, along ∑ nThe error convergence speed of each can be by independent adjustment;
Robust control obtains following equality:
δv = - η R a e v ρ ,
Figure FDA0000114480170000039
Wherein || a|| is the Euclid norm of a, and ε is little positive constant;
In order to show the robust stability of proposition system, Leah Pu Nuofu function the candidate be employed;
E reaches a conclusion vAnd e nBe consistent final bounded, so, from Also be consistent final bounded.
2. according to claim 1ly directly drive the digital control platform robust control method based on coordinate transform and parameter adjustment, it is characterized in that: this method is realized by the control program that embeds among the DSP, carries out according to the following steps:
Step 1 system initialization;
Step 2 allows TN1, TN2 to interrupt;
Step 3 starts the T1 underflow and interrupts;
The initialization of step 4 routine data;
Step 5 is opened total interruption;
Step 6 interrupt latency;
The sub-control program of step 7TN1 Interrupt Process;
Step 8 finishes;
The sub-control program of position adjustments Interrupt Process is according to the following steps in the said step 6:
Step 6-1 position adjustments is interrupted sub-control program;
Step 6-2 reads encoder values;
Step 6-3 judges angle;
Step 6-4 calculates and has walked distance;
Step 6-5 executing location controller;
Step 6-6 carries out robust controller compensation external disturbance;
Step 6-7 calculates current order and output;
Step 6-8 interrupts returning.
3. according to claim 2ly directly drive the digital control platform robust control method based on coordinate transform and parameter adjustment, it is characterized in that: the sub-control program of T1 Interrupt Process is according to the following steps in the said step 7:
Step 7-1T1 interrupts sub-control program;
Step 7-2 keeps the scene intact;
Step 7-3 judges whether initial alignment; Be to get into step 4, otherwise get into step 10;
Step 7-4 current sample, CLARK conversion, PARK conversion;
Step 7-5 need to judge whether position adjustments; Otherwise get into step 9;
The sub-control program of step 7-6 position adjustments Interrupt Process;
Step 7-7 position control deviation calculation
The output of step 7-8 controlled quentity controlled variable is regulated
Step 7-9dq shaft current is regulated;
Step 7-10PARK inverse transformation;
Step 7-11 calculates CMPPx and PWM output;
Step 7-12 position sampling;
Step 7-13 initial alignment program;
It is on-the-spot that step 7-14 recovers;
Step 15 interrupts returning.
4. as claimed in claim 1ly directly drive the control system that the digital control platform robust control method is adopted, it is characterized in that: comprise voltage-regulating circuit, rectification filtering unit, IPM inversion unit, DSP, Hall element, grating chi, current sampling circuit, position sampling circuit, IPM isolation drive holding circuit based on coordinate transform and parameter adjustment;
Alternating voltage exports the rectification filtering unit input end to, and the rectification filtering unit output terminal inserts the IPM inversion unit, and IPM links to each other with motor; The motor fuselage is equipped with the grating chi; Grating chi link position sample circuit input end, Hall element is gathered motor current signal, exports current sampling circuit to; Current sampling circuit output terminal and position sampling circuit output end all insert DSP; DSP outputs signal to voltage-regulating circuit input end and IPM isolation drive holding circuit, and voltage-regulating circuit is adjusted alternating voltage, and IPM isolation drive holding circuit inserts the IPM inversion unit.
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