CN102946222A - High-precision positioning method for permanent magnet synchronous motor servo system - Google Patents
High-precision positioning method for permanent magnet synchronous motor servo system Download PDFInfo
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- CN102946222A CN102946222A CN201110261248XA CN201110261248A CN102946222A CN 102946222 A CN102946222 A CN 102946222A CN 201110261248X A CN201110261248X A CN 201110261248XA CN 201110261248 A CN201110261248 A CN 201110261248A CN 102946222 A CN102946222 A CN 102946222A
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Abstract
The invention discloses a high-precision positioning method for a permanent magnet synchronous motor servo system. A closed-loop system of a position loop, a speed loop and a current loop is used for controlling current operation, wherein the controller of the position loop adopts a speed sectioning control method, namely, different position loop output values are given according to different joint position errors, i.e., a speed reference value; when the actual position of a joint is more adjacent to a desired position, namely, the position error is smaller, the smaller the speed reference value is, a motor rotates more slowly till the position error meets the requirement of the positioning precision. At the moment, the invention discloses an unforced locking way and a forced locking way, which are a zero speed locking method and a brake locking method respectively. In order to implement the technical scheme and the high-precision positioning of the motor, a high-precision measurement for a rotation speed is performed by an optical-electric encoder by an M/T method, namely, the number m2 of time-base pulses reflecting speed measurement time is also counted while counting the number m1 of the output pulses of the optical-electric encoder reflecting the rotation speed omega. A specific implementation process for a DSP (digital signal processor) is also provided.
Description
Technical field
The present invention relates to a kind of high-precision locating method of permagnetic synchronous motor, method is simple, and precision is high.
Background technology
Permanent magnet AC motor is divided into square wave and sine wave according to the driving power waveform, and the former is called dc brushless motor, and the latter is called permagnetic synchronous motor.The rotor of sine wave drive permagnetic synchronous motor adopts permanent magnetic material, and stator winding is symmetrical heterogeneous Sine distribution winding.If pass to symmetrical many phase alternating current, can produce constant rotating magnetic field and electromagnetic torque stably.
Servo system Servo system is the most complicated, because the response of position signalling is further embodied in the response of speed and acceleration, and position servo the most important thing is accurate location.Because the advantages such as the power density of permagnetic synchronous motor is high, and efficient is high, and dynamic response is fast, registration so that permagnetic synchronous motor paid attention to day by day widely in Positioning Servo System as AC servo motor and used.Permanent magnetism synchronous electric machine position servo system is given by external position, position transducer, and current sensor, voltage source inverter, three-phase permanent magnet synchronous motor and dsp controller form.Dsp controller is finished the A/D conversion of detection signal, the completing place adjuster, and speed regulator, current regulator and Driven by inverter SVPWM calculated signals namely adopt position ring, three close-loop control modes of speed ring and electric current loop.
Gear drive is as the most frequently used mechanical transmission mechanism, wherein exist many non-linear factors, backlash is exactly a factor of wherein can not ignore, it is indispensable a kind of non-linear that it is that the mechanical transfer process is normally carried out, and also is the key factor that affects dynamic performance and stable state accuracy simultaneously.Gear engagement must be satisfied certain backlash minimum spacing guarantee phenomenon that do not block, and also there is certain mismachining tolerance in the gear work in-process, and along with the prolongation of service time, gear wear strengthens and also can cause backlash to strengthen.The existence of backlash has caused return difference for the transmission device that has reversible operation on the one hand, causes the non-single value nonlinearity with stagnant loop type.On the other hand, system also can even become unstable because of limit cycles oscillations or impact performance, and the collision of gear rigidity will produce serious vibration and noise.
In addition, in three closed-loop controls of permagnetic synchronous motor, the normal service precision of the measurement of position is high, the photoelectric encoder that Linearity is good, and speed is then obtained through calculus of differences by position signalling.Speed-measuring method commonly used has the M method, T method etc.In the accurate positioning control of motor, because motor speed is very low, when adopting the M method to test the speed, one even several sampling period just can adopt into a pulse, and the estimation of speed is very inaccurate thus.And when motor speed was higher, the pulse period of photoelectric encoder was very little, and the angle of a resolution unit of calculating can only count clock periodicity seldom when adopting the T method to test the speed, thereby causes very low velocity resolution.
In sum, in the hi-Fix of permagnetic synchronous motor, exist non-linear effects, the impact that the elimination backlash brings and the pinpoint technical problem of Ultra-Low Speed that realizes motor that the research backlash brings.
Summary of the invention
Because the defects of prior art, the object of the present invention is to provide a kind of PMSM Servo System that can hi-Fix, to solve the problem of prior art.
A kind of localization method of the PMSM Servo System for joint of robot, described PMSM Servo System comprises permagnetic synchronous motor, decelerator, joint output, Hall element, code-disc, brake, resolver and sine wave drive controller, and described Hall element is used for detecting when motor initial alignment square wave drives the positional information of motor; When being used for sine wave drive, described code-disc detects positional information and the velocity information of motor; The locking positioning of motor when described brake is used for hard locking; Described resolver is for detection of the positional information in joint; Described localization method use location ring, speed ring and the running of electric current loop three closed-loop systems control electric current, wherein said method comprises the steps:
The controller of described position ring is not to adopt traditional PID controller, but provides different position ring output valves, i.e. speed preset value according to different pose errors;
When joint physical location and desired locations nearer, namely the position error more hour, the speed preset value is less, makes the slower of electric machine rotation, until site error reaches positioning accuracy request;
When the error of joint physical location and desired locations reached in the accuracy rating, soft locking and two kinds of locate modes of hard locking are provided: soft locking mode was to make position control be output as zero, and namely the speed preset value is zero, thereby motor is stopped operating immediately; Hard locking mode uses joint control to export to level signal of brake for when site error reaches required precision, utilizes brake locking, and motor is stopped operating immediately.
Preferably, the controller of described speed ring and electric current loop adopts the PID control method.
Preferably, the speed detection sensor of described motor uses code-disc, and the velocity information of described detection motor comprises: at the code-disc output pulse number m to the reflection rotational speed omega
1In counting time, is to the test the speed time main pulse number m of time of reflection
2Also count; In the time T that tests the speed
cIn, record motor speed mean value and be:
In the formula, P is photoelectric encoder revolution output pulse number; f
0For the time main pulse frequency.
The present invention also provides a kind of joint of robot, comprise PMSM Servo System, described PMSM Servo System comprises permagnetic synchronous motor, Hall element, code-disc, brake, resolver and sine wave drive controller, and described Hall element is used for detecting when motor initial alignment square wave drives the positional information of motor; When being used for sine wave drive, described code-disc detects positional information and the velocity information of motor; The locking positioning of motor when described brake is used for hard locking; Described resolver is for detection of the positional information in joint; Described localization method use location ring, speed ring and the running of electric current loop three closed-loop systems control electric current;
The controller of described position ring can provide according to different pose errors different position ring output valves, i.e. speed preset value; When joint physical location and desired locations nearer, namely the position error more hour, the speed preset value is less, makes the slower of electric machine rotation, until site error reaches positioning accuracy request;
When the error of joint physical location and desired locations reaches in the accuracy rating, described servo system has soft locking and two kinds of locate modes of hard locking: soft locking mode is to make position control be output as zero, be that the speed preset value is zero, thereby motor is stopped operating immediately; Hard locking mode uses joint control to export to level signal of brake for when site error reaches required precision, utilizes brake locking, and motor is stopped operating immediately.
Localization method of the present invention can be realized the accurate location of motor, make motor reach behind the desired locations not can be in backlash back and forth vibration, motor stabilizing, confining force is good, just do not have collision between the gear yet, realize thus the hi-Fix of permagnetic synchronous motor, improved the stability of whole servo system.The new motor positioning method that the present invention adopts has improved the stationkeeping ability of motor, and this localization method has following beneficial effect in Electric Machine Control:
1. method is simple, and motor operates steadily;
2. motor location hold facility is good, and positioning accuracy is high.
Description of drawings
Fig. 1 is the sine wave drive structured flowchart of permagnetic synchronous motor.
Fig. 2 is permagnetic synchronous motor three closed-loop control system block diagram of the prior art.
Fig. 3 is the soft locking control system of permagnetic synchronous motor hi-Fix block diagram.
Fig. 4 is that the permagnetic synchronous motor hi-Fix is locked the control system block diagram firmly.
Fig. 5 is the M/T method schematic diagram that tests the speed.
Fig. 6 a is the M/T method DSP in house software Measuring Time interruption subroutine flow chart that tests the speed.
Fig. 6 b is the M/T method DSP in house software capture interrupt subroutine flow chart that tests the speed.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Three closed-loop control adjusters of traditional permagnetic synchronous motor, i.e. position ring, speed ring and electric current loop adjuster all adopt the PID control method.The present invention accurately locates for impact and the realization motor of eliminating backlash in the gear drive, the position control that proposes position ring adopts speed segmentation control method, namely provide different speed preset values according to different rotor position errors, when rotor position error less, be that the motor physical location is during more near desired locations, the speed preset value is less, electric machine rotation slower.Concrete control method is as follows: positional servosystem given position signal θ
r, joint position sensor rotation transformer detects actual joint position signal θ
f, obtain position error signal Δ θ=θ after both
r-θ
f, after this position error signal is regulated through the speed segmentation controller, output rotor rotational speed setup signal ω
rAs shown in table 1, when pose error Δ θ is larger, the given ω of position ring output speed
rLarger, make the motor rotation speed; θ reduces gradually when the pose error Δ, when the joint physical location moves closer to given position, and speed preset ω
rLess, make motor rotation speed lower; Until pose error satisfies required precision.
Table 1 pose error and corresponding motor speed set-point
| Δ θ scope | Given ω r |
| (-∞，-θ 0) or (θ 0，+∞) | ω 0 |
| (-θ 0，-θ 1) or (θ 1，θ 0) | ω 1 |
| (-θ 1，-θ 2) or (θ 2，θ 1) | ω 2 |
| …… | …… |
| (-θ n-1，-θ n) or (θ n，θ n-1) | ω n |
| (-θ n，θ n) | 0 |
θ wherein
0＞θ
1＞θ
2＞...＞θ
N-1＞θ
n
ω
0＞ω
1＞ω
2＞……＞ω
n＞0。
The speed regulator of speed ring and the current regulator of electric current loop and traditional three close-loop control modes are identical: the actual rotor tach signal obtains ω through the actual rotor position signalling through calculus of differences
f, form speed error signal Δ ω=ω after instruction spinner velocity and the actual speed
r-ω
f, speed error signal passes through rotating speed PID regulation output current-order i again as the input of speed regulator
r, current sensor detects permagnetic synchronous motor three-phase current and DC bus-bar voltage and obtains actual current value i
f, current error signal Δ i=i
r-i
fDetermine the duty ratio of device for power switching conducting through the current regulator control algolithm, determine at last permanent-magnetic synchronous motor stator winding control logic, export corresponding PWM waveform, so that rotor is according to the requirement operation of control.
When the error of joint physical location and desired locations reached in the required precision scope, the present invention proposed the accurate location of soft locking and two kinds of methods realizations of hard locking motor.Soft locking positioning mode is as shown in Figure 3: in position ring speed segmentation control, in the time of in site error reaches accurate claimed range, making position ring output is that speed preset is zero, and this moment, motor speed was zero, stopped operating immediately.The locking positioning mode as shown in Figure 4 firmly: in the time of in site error reaches the required precision scope, controller is exported to level of motor side brake, makes the brake braking, and motor locking stops operating immediately.Stop operating immediately after these two kinds of locking modes can both make motor reach desired locations, can be in backlash back and forth vibration, motor stabilizing, confining force is good.
Simultaneously, in order to realize high-performance speed governing and the hi-Fix of motor, the present invention adopts the M/T method to carry out tachometric survey.Tachometric survey utilizes the peculiar function of dsp controller to realize, such as capturing function, and orthogonal coding function etc.When utilizing DSP to test the speed, can adopt the method for program interrupt.Wherein use three timers: utilize timer 1 to measure the high-frequency impulse number; Utilize timer 2 to measure the encoder pulse number; Utilize the 3 setting measurement times of timer.
When timer 3 produces cycle interruption, enable capture interrupt by the Measuring Time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture interrupt; In the capture interrupt subprogram, utilize single general purpose timer 1 control register to start simultaneously for the timer 1 of measuring the high-frequency impulse number with for the timer 2 of measuring the encoder pulse number, close simultaneously capture interrupt.When timer 3 produces the underflow interruption, again enable capture interrupt by the Measuring Time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture interrupt; In the capture interrupt subprogram, utilize single general purpose timer 1 control register to stop simultaneously for the timer 1 of measuring the high-frequency impulse number with for the timer 2 of measuring the encoder pulse number, then read photoelectric encoder output pulse number and high-frequency clock pulse number, close simultaneously capture interrupt.Utilize like this DSP that photoelectric encoder output pulse has just been realized the synchronous of counting and timing.The difference of twice value of catching representative output pulse number m before and after the high-frequency impulse counter
2, and the difference of twice value of catching of photoelectric encoder output pulse counter main pulse number m when representing
1Because timer 3 is set to increase and decrease continuously pattern, why the cycle is 2T
c, be because a T
cBe used for testing the speed another T
cBe used for the calculating of rotating speed.Measuring Time interruption subroutine and capture interrupt subroutine flow chart are shown in Fig. 6 (a) and Fig. 6 (b).
The above only is several specific embodiment of the present invention, and above embodiment only is used for technical scheme of the present invention and inventive concept are explained and unrestricted claim scope of the present invention.All in the art technical staff in conjunction with prior art, by the available other technologies scheme of logic analysis, reasoning or limited experiment, also should be considered to drop within the claim protection range of the present invention on the inventive concept basis of this patent.
Claims (8)
1. localization method that is used for the PMSM Servo System of joint of robot, described PMSM Servo System comprises permagnetic synchronous motor, Hall element, code-disc, brake, resolver and sine wave drive controller, and described Hall element is used for detecting when motor initial alignment square wave drives the positional information of motor; When being used for sine wave drive, described code-disc detects positional information and the velocity information of motor; The locking positioning of motor when described brake is used for hard locking; Described resolver is for detection of the positional information in joint; Described localization method use location ring, speed ring and the running of electric current loop three closed-loop systems control electric current, wherein said method may further comprise the steps:
Utilize the controller of described position ring to provide different position ring output valves, i.e. speed preset value according to different pose errors; When joint physical location and desired locations nearer, namely the position error more hour, the speed preset value is less, makes the slower of electric machine rotation, until site error reaches positioning accuracy request;
When the error of joint physical location and desired locations reached in the accuracy rating, soft locking and two kinds of locate modes of hard locking are provided: soft locking mode was to make position control be output as zero, and namely the speed preset value is zero, thereby motor is stopped operating immediately; Hard locking mode uses joint control to export to level signal of brake for when site error reaches required precision, utilizes brake locking, and motor is stopped operating immediately.
2. localization method according to claim 1 is characterized in that, the controller of described speed ring and electric current loop adopts the PID control method.
3. localization method according to claim 1 and 2 is characterized in that, the speed detection sensor of described motor uses code-disc, and the velocity information of described detection motor comprises: at the code-disc output pulse number m to the reflection rotation speed n
1In counting time, is to the test the speed time main pulse number m of time of reflection
2Also count; In the time T that tests the speed
cIn, record motor speed mean value and be:
In the formula, P is photoelectric encoder revolution output pulse number; f
0For the time main pulse frequency.
4. localization method according to claim 3 is characterized in that, described servo system comprises dsp controller, when detecting motor speed information, uses three timers of described dsp controller: utilize timer 1 to measure the high-frequency impulse number; Utilize timer 2 to measure the encoder pulse number; Utilize the 3 setting measurement times of timer;
When timer 3 produces cycle interruption, enable capture interrupt by the Measuring Time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture interrupt; In the capture interrupt subprogram, start simultaneously the timer 2 that is used for measuring the timer 1 of high-frequency impulse number and is used for measuring the encoder pulse number, close simultaneously capture interrupt;
When timer 3 produces the underflow interruption, again enable capture interrupt by the Measuring Time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture interrupt; In the capture interrupt subprogram, stop simultaneously then reading code-disc output pulse number and high-frequency clock pulse number for the timer 1 of measuring the high-frequency impulse number with for the timer 2 of measuring the encoder pulse number, close simultaneously capture interrupt;
The difference of twice value of catching representative output pulse number m before and after the high-frequency impulse counter
2, and the difference of twice value of catching of photoelectric encoder output pulse counter main pulse number m when representing
1Because timer 3 is set to increase and decrease continuously pattern, its cycle is 2T
c, one of them T
cBe used for testing the speed another T
cBe used for the calculating of rotating speed.
5. joint of robot, comprise PMSM Servo System, described PMSM Servo System comprises permagnetic synchronous motor, Hall element, code-disc, brake, resolver and sine wave drive controller, and described Hall element is used for detecting when motor initial alignment square wave drives the positional information of motor; When being used for sine wave drive, described code-disc detects positional information and the velocity information of motor; The locking positioning of motor when described brake is used for hard locking; Described resolver is for detection of the positional information in joint; Described localization method use location ring, speed ring and the running of electric current loop three closed-loop systems control electric current;
The controller of described position ring can provide according to different pose errors different position ring output valves, i.e. speed preset value; When joint physical location and desired locations nearer, namely the position error more hour, the speed preset value is less, makes the slower of electric machine rotation, until site error reaches positioning accuracy request;
When the error of joint physical location and desired locations reaches in the accuracy rating, described servo system has soft locking and two kinds of locate modes of hard locking: soft locking mode is to make position control be output as zero, be that the speed preset value is zero, thereby motor is stopped operating immediately; Hard locking mode uses joint control to export to level signal of brake for when site error reaches required precision, utilizes brake locking, and motor is stopped operating immediately.
6. joint of robot according to claim 5 is characterized in that, the controller of described speed ring and electric current loop adopts the PID control method.
7. according to claim 5 or 6 described joint of robot, it is characterized in that the speed detection sensor of described motor uses code-disc, the velocity information of described detection motor comprises: at the code-disc output pulse number m to the reflection rotation speed n
1In counting time, is to the test the speed time main pulse number m of time of reflection
2Also count; In the time T that tests the speed
cIn, record motor speed mean value and be:
In the formula, P is photoelectric encoder revolution output pulse number; f
0For the time main pulse frequency.
8. joint of robot according to claim 7, it is characterized in that, described servo system comprises dsp controller, when detecting motor speed information, described dsp controller utilizes timer 1 to measure the high-frequency impulse number, utilize timer 2 to measure the encoder pulse number, utilize the 3 setting measurement times of timer; Described dsp controller is configured to:
When timer 3 produces cycle interruption, enable capture interrupt by the Measuring Time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture interrupt; In the capture interrupt subprogram, start simultaneously the timer 2 that is used for measuring the timer 1 of high-frequency impulse number and is used for measuring the encoder pulse number, close simultaneously capture interrupt;
When timer 3 produces the underflow interruption, again enable capture interrupt by the Measuring Time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture interrupt; In the capture interrupt subprogram, stop simultaneously then reading code-disc output pulse number and high-frequency clock pulse number for the timer 1 of measuring the high-frequency impulse number with for the timer 2 of measuring the encoder pulse number, close simultaneously capture interrupt;
The difference of twice value of catching representative output pulse number m before and after the high-frequency impulse counter
2, and the difference of twice value of catching of photoelectric encoder output pulse counter main pulse number m when representing
1Because timer 3 is set to increase and decrease continuously pattern, its cycle is 2T
c, one of them T
cBe used for testing the speed another T
cBe used for the calculating of rotating speed.
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| CN106325061A (en) * | 2016-08-17 | 2017-01-11 | 中国航空工业集团公司西安飞行自动控制研究所 | Control method for cabin door mechanism loading device |
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| CN112583309B (en) * | 2020-12-04 | 2022-05-13 | 大唐半导体科技有限公司 | Stepping motor speed adjustment control algorithm based on photoelectric encoder |
| CN113890429A (en) * | 2021-10-29 | 2022-01-04 | 广东工业大学 | Hall element-based motor reducer absolute angle fitting system and fitting method |
| CN114310909A (en) * | 2022-01-26 | 2022-04-12 | 美的集团(上海)有限公司 | Robot and control method thereof |
| CN117914223A (en) * | 2024-03-20 | 2024-04-19 | 淮安致远信息技术有限公司 | Control system of servo motor |
| CN117914223B (en) * | 2024-03-20 | 2024-05-14 | 淮安致远信息技术有限公司 | Control system of servo motor |
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