CN102811014A - System and method for realizing proportional integral (PI) regulator - Google Patents
System and method for realizing proportional integral (PI) regulator Download PDFInfo
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- CN102811014A CN102811014A CN2012102702993A CN201210270299A CN102811014A CN 102811014 A CN102811014 A CN 102811014A CN 2012102702993 A CN2012102702993 A CN 2012102702993A CN 201210270299 A CN201210270299 A CN 201210270299A CN 102811014 A CN102811014 A CN 102811014A
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Abstract
The invention discloses a system for realizing a proportional integral (PI) regulator, which is used for generating a new control amount depending control order and feedback information. The system for realizing the PI regulator comprises a compensating unit, a proportion regulating unit and an integral regulating unit, wherein the compensating unit is used for carrying out integral compensation on the control order; the proportion regulating unit is used for carrying out proportion regulation on the difference between the control order and the feedback information; the integral regulating unit is used for carrying out integral regulation on the difference between the control order and the feedback information processed by the compensating unit. Furthermore, the invention discloses a corresponding method. With introduction of an integral compensating process, a feedback overshoot is effectively inhibited when a PI regulator is adopted in a closed-loop control.
Description
Technical field
The present invention relates to motor speed control field, more particularly, relate to a kind of pi regulator and realize system and method.
Background technology
In Motor Control Field, adopt the adjuster of PI algorithm usually for the quick zero deflection control that realizes motor speed as speed closed loop control, be called for short the speed pi regulator.The speed pi regulator calculates through the difference of speed command and speed feedback being carried out PI, obtains the torque instruction of Electric Machine Control.Thereby motor quickens according to given torque instruction or slows down to realize the speed control of motor.Particularly, motor quickens according to given torque instruction or slows down, and detects the feedback speed of motor then and sends into pi regulator, has so formed the closed-loop control of a speed.
As shown in Figure 1, in present Electric Machine Control, the speed pi regulator directly carries out the adjusting of I integration according to the difference of speed command and speed feedback and the P ratio is regulated, and obtains the torque instruction of Electric Machine Control.
Yet because the generation of feedback speed comes from the PI result calculated, thereby life period postpones (speed feedback hysteresis speed command) between speed command and the speed feedback.Because the existence of above-mentioned time delay, the integral of pi regulator changes the normal situation of overshoot greatly that occurs of speed control that slowly makes when very fast when speed command changes, and is as shown in Figure 2.
Summary of the invention
The technical problem that the present invention will solve is, changes at speed command to above-mentioned pi regulator the problem of overshoot greatly to occur when very fast, and a kind of speed control pi regulator realization system and method is provided.
The technical scheme that the present invention solves the problems of the technologies described above is, provides a kind of pi regulator to realize system, is used for according to control command and the new controlled quentity controlled variable of feedback information generation; Comprise compensating unit, ratio regulon and integration regulon, wherein: said compensating unit is used for control command is carried out integral compensation; Said ratio regulon is used for that the difference of control command and feedback information is carried out ratio and regulates; Said integration regulon is used for that the difference of control command of handling through compensating unit and feedback information is carried out integration and regulates.
In pi regulator realization of the present invention system, the transfer function of the closed-loop control of said pi regulator is:
In pi regulator realization of the present invention system, said compensating unit is that the transfer function of low-pass first order filter and this low-pass first order filter is:
In pi regulator realization of the present invention system; The time constant filter τ of said low-pass first order filter satisfies τ=1/wn, wherein
In pi regulator realization of the present invention system, said control command is a speed command, and said feedback information is a speed feedback, and said new controlled quentity controlled variable is a torque instruction; Perhaps said control command is a current-order, and said feedback information is a current feedback, and said new controlled quentity controlled variable is a voltage instruction.
The present invention also provides a kind of pi regulator implementation method, is used for generating new controlled quentity controlled variable according to control command and feedback information; May further comprise the steps:
Control command is carried out integral compensation, and the difference that will pass through control command and the feedback information of integral compensation is carried out integration and is regulated;
The difference of control command and feedback information is carried out ratio regulates.
In pi regulator implementation method of the present invention, the transfer function of the closed-loop control of said pi regulator is:
In pi regulator implementation method of the present invention, saidly control command is carried out integral compensation operation is realized by low-pass first order filter and the transfer function of this low-pass first order filter is:
In pi regulator implementation method of the present invention; The time constant filter τ of said low-pass first order filter satisfies τ=1/wn, wherein
In pi regulator implementation method of the present invention, said control command is a speed command, and said feedback information is a speed feedback, and said new controlled quentity controlled variable is a torque instruction; Perhaps said control command is a current-order, and said feedback information is a current feedback, and said new controlled quentity controlled variable is a voltage instruction.
Pi regulator of the present invention is realized system and method, through introducing the integral compensation link, can effectively suppress to adopt the feedback overshoot of pi regulator closed-loop control.The present invention can improve the speed and the current closed-loop control performance that adopt pi regulator effectively through the introducing of integral compensation link.
Description of drawings
Fig. 1 is the structural representation of existing pi regulator.
Fig. 2 is the speed command of existing pi regulator and the sketch map of speed feedback.
Fig. 3 is the sketch map that pi regulator of the present invention is realized first embodiment of system.
Fig. 4 is the speed command of the pi regulator among Fig. 3 and the sketch map of speed feedback.
Fig. 5 is the sketch map that pi regulator of the present invention is realized second embodiment of system.
Fig. 6 is the speed command of the pi regulator among Fig. 5 and the sketch map of speed feedback.
Fig. 7 is the schematic flow sheet of pi regulator implementation method embodiment of the present invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.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.
As shown in Figure 3, be the sketch map that pi regulator of the present invention is realized first embodiment of system.This pi regulator realization system is used for generating torque instruction (this torque instruction is used to control motor rotation) according to speed command and speed feedback, comprises compensating unit 33, ratio regulon 32 and integration regulon 31.Above-mentioned compensating unit 33, ratio regulon 32 and integration regulon 31 can be made up of hardware, software or its combination.
Compensating unit 33 is used for speed command is carried out integral compensation.Particularly, this compensating unit 33 can adopt low-pass first order filter.
The operation result sum of aforementioned proportion regulon 32 and integration regulon 31 is the torque instruction of control motor rotation.Because speed command, makes the torque instruction when integration in the pi regulator is regulated component near stable state through after the integral compensation, the speed feedback overshoot of closed-loop control has obtained very big inhibition, and is as shown in Figure 4.
Suppose that the above-mentioned pi regulator that is used for speed control has carried out the standardization of parameter, all Control Parameter are analog quantity.The transfer function of the speed closed loop of pi regulator control at this moment can be expressed as:
According to above transfer function, can obtain bandwidth
rad/s of unit of function.
Above-mentioned compensating unit 33 adopts low-pass first order filter, and the transfer function expression formula of this low-pass first order filter is:
If the time constant filter τ of low-pass first order filter satisfies τ=1/wn, then the computing of compensating unit 33 approx equivalence be the phase delay of second order speed closed loop controller.In this case, the dynamic property of speed closed loop control is because the existence that ratio is regulated is guaranteed, and the existence that the steady-state behaviour of speed closed loop control is regulated owing to integration is guaranteed.Meanwhile, because speed command, makes the torque instruction when integration in the adjuster is regulated component near stable state through after the integral compensation, the speed feedback overshoot of closed-loop control has obtained very big inhibition.
As shown in Figure 5, be the sketch map that pi regulator of the present invention is realized second embodiment of system.This pi regulator realization system is used for comprising compensating unit 53, ratio regulon 52 and integration regulon 51 according to current-order and current feedback formation voltage instruction (this voltage instruction is used to control motor rotation).Above-mentioned compensating unit 53, ratio regulon 52 and integration regulon 51 can be made up of hardware, software or its combination.
Compensating unit 53 is used for current-order is carried out integral compensation.Particularly, this compensating unit 53 can adopt low-pass first order filter.Ratio regulon 52 is used to carry out ratio and regulates computing, and the difference of current-order and current feedback is directly adopted in the input of this ratio regulon 52.Integration regulon 51 is used to carry out integration and regulates computing, and the input of this integration regulon 51 is adopted through the current-order of compensating unit 53 processing and the difference of current feedback.The operation result sum of aforementioned proportion regulon 52 and integration regulon 51 is the voltage instruction of control motor rotation.Because current-order, makes the torque instruction when integration in the pi regulator is regulated component near stable state through after the integral compensation, the current feedback overshoot of closed-loop control has obtained very big inhibition, and is as shown in Figure 6.
As shown in Figure 7, be the schematic flow sheet of pi regulator implementation method embodiment of the present invention, this method is used for generating new controlled quentity controlled variable according to control command and feedback information.This method may further comprise the steps:
Step S71: control command is carried out the integral compensation computing.This step can realize through low-pass first order filter.
Step S72: the difference of control command and feedback information that will pass through the integral compensation computing of step S71 is carried out integration and is regulated computing.
Step S73: the difference of control command and feedback information is carried out ratio regulate computing.This step can be carried out with step S72 simultaneously.
Step S74: generate torque instruction according to the operation result among above-mentioned steps S72 and the step S73.
In above-mentioned pi regulator implementation method, the transfer function of the closed-loop control of pi regulator is:
Can be applicable to speed control at said method, this moment, control command was a speed command, and feedback information is a speed feedback, and new controlled quentity controlled variable is a torque instruction.In addition, said method also can be applicable to Current Control, and this moment, control command was a current-order, and feedback information is a current feedback, and new controlled quentity controlled variable is a voltage instruction.
The above; Be merely the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technical staff who is familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.
Claims (10)
1. a pi regulator is realized system, is used for generating new controlled quentity controlled variable according to control command and feedback information; It is characterized in that: comprise compensating unit, ratio regulon and integration regulon, wherein: said compensating unit is used for control command is carried out integral compensation; Said ratio regulon is used for that the difference of control command and feedback information is carried out ratio and regulates; Said integration regulon is used for that the difference of control command of handling through compensating unit and feedback information is carried out integration and regulates.
2. pi regulator according to claim 1 is realized system, and it is characterized in that: the transfer function of the closed-loop control of said pi regulator is:
3. pi regulator according to claim 2 is realized system, and it is characterized in that: said compensating unit is that the transfer function of low-pass first order filter and this low-pass first order filter is:
4. pi regulator according to claim 3 is realized system; It is characterized in that: the time constant filter τ of said low-pass first order filter satisfies τ=1/wn, wherein wn=
.
5. realize system according to each described pi regulator among the claim 1-4, it is characterized in that: said control command is a speed command, and said feedback information is a speed feedback, and said new controlled quentity controlled variable is a torque instruction; Perhaps said control command is a current-order, and said feedback information is a current feedback, and said new controlled quentity controlled variable is a voltage instruction.
6. a pi regulator implementation method is used for generating new controlled quentity controlled variable according to control command and feedback information; It is characterized in that: may further comprise the steps:
Control command is carried out integral compensation, and the difference that will pass through control command and the feedback information of integral compensation is carried out integration and is regulated;
The difference of control command and feedback information is carried out ratio regulates.
7. pi regulator implementation method according to claim 6 is characterized in that: the transfer function of the closed-loop control of said pi regulator is:
8. pi regulator implementation method according to claim 7 is characterized in that: saidly control command is carried out integral compensation operation is realized by low-pass first order filter and the transfer function of this low-pass first order filter is:
9. pi regulator implementation method according to claim 8; It is characterized in that: the time constant filter τ of said low-pass first order filter satisfies τ=1/wn, wherein wn=
.
10. according to each described pi regulator implementation method among the claim 6-9, it is characterized in that: said control command is a speed command, and said feedback information is a speed feedback, and said new controlled quentity controlled variable is a torque instruction; Perhaps said control command is a current-order, and said feedback information is a current feedback, and said new controlled quentity controlled variable is a voltage instruction.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109067288A (en) * | 2018-08-15 | 2018-12-21 | 江门市蒙德电气股份有限公司 | A kind of motor control method and device based on electric current loop |
| CN109074102A (en) * | 2016-05-10 | 2018-12-21 | 松下知识产权经营株式会社 | Motor control system |
| CN109581861A (en) * | 2017-09-29 | 2019-04-05 | 上海微电子装备（集团）股份有限公司 | Move bench control system, sports platform system and exposure device |
| CN110329272A (en) * | 2019-06-28 | 2019-10-15 | 潍柴动力股份有限公司 | Speed adjusting method, device, equipment and computer readable storage medium |
| CN114679048A (en) * | 2022-03-29 | 2022-06-28 | 忱芯电子(苏州)有限公司 | Control method and system for high-voltage generator and storage medium |
| CN114337449B (en) * | 2021-11-25 | 2023-09-15 | 河南嘉晨智能控制股份有限公司 | Method for improving extremely low speed measurement performance of encoder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1761920A (en) * | 2003-03-17 | 2006-04-19 | 山洋电气株式会社 | Motor control device |
| CN101667803A (en) * | 2009-09-07 | 2010-03-10 | 上海电力学院 | Rotating speed adjustment method in asynchronous motor direct torque control system |
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2012
- 2012-07-31 CN CN2012102702993A patent/CN102811014A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1761920A (en) * | 2003-03-17 | 2006-04-19 | 山洋电气株式会社 | Motor control device |
| CN101667803A (en) * | 2009-09-07 | 2010-03-10 | 上海电力学院 | Rotating speed adjustment method in asynchronous motor direct torque control system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109074102A (en) * | 2016-05-10 | 2018-12-21 | 松下知识产权经营株式会社 | Motor control system |
| CN109581861A (en) * | 2017-09-29 | 2019-04-05 | 上海微电子装备（集团）股份有限公司 | Move bench control system, sports platform system and exposure device |
| CN109581861B (en) * | 2017-09-29 | 2022-02-15 | 上海微电子装备（集团）股份有限公司 | Motion stage control system, motion stage system, and exposure apparatus |
| CN109067288A (en) * | 2018-08-15 | 2018-12-21 | 江门市蒙德电气股份有限公司 | A kind of motor control method and device based on electric current loop |
| CN110329272A (en) * | 2019-06-28 | 2019-10-15 | 潍柴动力股份有限公司 | Speed adjusting method, device, equipment and computer readable storage medium |
| CN110329272B (en) * | 2019-06-28 | 2020-11-20 | 潍柴动力股份有限公司 | Vehicle speed adjusting method, device, equipment and computer readable storage medium |
| CN114337449B (en) * | 2021-11-25 | 2023-09-15 | 河南嘉晨智能控制股份有限公司 | Method for improving extremely low speed measurement performance of encoder |
| CN114679048A (en) * | 2022-03-29 | 2022-06-28 | 忱芯电子(苏州)有限公司 | Control method and system for high-voltage generator and storage medium |
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