CN102946222B - A kind of method of PMSM Servo System hi-Fix - Google Patents
A kind of method of PMSM Servo System hi-Fix Download PDFInfo
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- CN102946222B CN102946222B CN201110261248.XA CN201110261248A CN102946222B CN 102946222 B CN102946222 B CN 102946222B CN 201110261248 A CN201110261248 A CN 201110261248A CN 102946222 B CN102946222 B CN 102946222B
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Abstract
A kind of method that the invention discloses PMSM Servo System hi-Fix, position ring, speed ring and electric current loop three closed loop system is used to control electric current operating, the controller of wherein said position ring uses speed sectionalized control method, i.e. provide different position ring output valves, i.e. speed preset value according to different pose errors;When joint physical location is the nearest with desired locations, i.e. site error is more hour, and speed preset value is the least, makes the slowest of electric machine rotation, until site error reaches positioning accuracy request;Now, the invention discloses soft-lock tight and hard locking two kinds of locking modes, respectively speed to be zero locking method and use brake locking.The present invention is in order to realize above technical scheme, it is achieved the hi-Fix of motor, uses photoelectric encoder to use M/T method to carry out rotating speed high-acruracy survey, i.e. at the photoelectric encoder output pulse number m to reflection rotational speed omega1While counting, time main pulse number m of time that reflection is tested the speed2Be also carried out counting, and propose DSP implement process.
Description
Technical field
The present invention relates to the high-precision locating method of a kind of permagnetic synchronous motor, method is simple, and precision is high.
Background technology
Permanent magnet AC motor is according to driving power supply wave shape to be divided into square wave and sine wave, and the former is referred to as DC brushless motor, and the latter is referred to as permagnetic synchronous motor.The rotor of sine wave drive permagnetic synchronous motor uses permanent magnet material, and stator winding is symmetrical multi-phase Sine distribution winding.If passing to the many phase alternating current of symmetry, constant rotating excitation field and stable electromagnetic torque can be produced.
Servosystem Servo system is the most complicated, because the response to position signalling is further embodied in the response of speed and acceleration, and position servo the most important thing is to be accurately positioned.Owing to the power density of permagnetic synchronous motor is high, the advantages such as efficiency is high, and dynamic response is fast, registration make permagnetic synchronous motor be increasingly subject to pay attention to widely and apply in Positioning Servo System as AC servo motor.Permanent magnetism synchronous electric machine position servo system is given by external position, position sensor, current sensor, voltage source inverter, three-phase permanent magnet synchronous motor and dsp controller composition.Dsp controller completes to detect the A/D conversion of signal, completes position control, speed regulator, rheonome and Driven by inverter SVPWM signal and calculates, i.e. uses the Three-loop control mode of position ring, speed ring and electric current loop.
Gear drive is as the most frequently used mechanical transmission mechanism, wherein there is many non-linear factors, backlash is exactly the factor wherein can not ignore, it is that to be normally carried out indispensable one non-linear for mechanical transfer process, is also the key factor affecting dynamic performance and stable state accuracy simultaneously.Gear engagement must is fulfilled for certain backlash minimum spacing guarantee and does not block phenomenon, and gear work in-process there is also certain mismachining tolerance, and along with the prolongation of the time of use, gear wear strengthens and will also result in backlash and strengthen.The existence one side of backlash causes return difference for there is the actuating device of reversible operation, causes the non-single value nonlinearity with stagnant loop type.On the other hand, system also can reduce performance and even become unstable because of limit cycles oscillations or impact, and the collision of gear rigidity will produce serious vibration and noise.
It addition, in the Three-loop control of permagnetic synchronous motor, the normal service precision of measurement of position is high, and the photoelectric encoder that Linearity is good, speed is then obtained through calculus of differences by position signalling.Conventional speed-measuring method has M method, T method etc..Being accurately positioned in control at motor, owing to motor speed is the lowest, when using M method to test the speed, sampling periods the most several just can adopt into a pulse, and thus the estimation of speed is the most inaccurate.And when motor speed is higher, the pulse period of photoelectric encoder is the least, the angle using T method to calculate a resolution unit when testing the speed can only count little clock periodicity, thus causes the lowest velocity resolution.
In sum, in the hi-Fix of permagnetic synchronous motor, there is non-linear effects that research backlash brought, eliminate the impact that brought of backlash and the pinpoint technical problem of Ultra-Low Speed realizing motor.
Summary of the invention
Because the drawbacks described above of prior art, it is an object of the invention to provide a kind of can the PMSM Servo System of hi-Fix, to solve problem of the prior art.
A kind of localization method of the PMSM Servo System for joint of robot, described PMSM Servo System includes permagnetic synchronous motor, decelerator, joint outfan, Hall element, code-disc, brake, rotary transformer and sine wave drive controller, and described Hall element is the positional information of detection motor when motor initial alignment square wave drive;The positional information of described code-disc detection motor when sine wave drive and velocity information;Described brake is the locking positioning of motor when hard locking;Described rotary transformer is for detecting the positional information in joint;Described localization method uses position ring, speed ring and electric current loop three closed loop system to control electric current operating, and wherein said method comprises the steps:
The controller of described position ring is not to use traditional PID controller, but provides different position ring output valves, i.e. speed preset value according to different pose errors;
When joint physical location is the nearest with desired locations, i.e. site error is more hour, and speed preset value is the least, makes the slowest of electric machine rotation, until site error reaches positioning accuracy request;
When the error of joint physical location Yu desired locations reaches in accuracy rating, it is provided that soft-lock two kinds of location modes of tight and hard locking: soft locking mode is to make position control be output as zero, i.e. speed preset value is zero, so that motor stops operating immediately;Hard locking mode, for when site error reaches required precision, uses joint control to export to one level signal of brake, utilizes brake to lock, make motor stop operating immediately.
Preferably, the controller of described speed ring and electric current loop uses PID control method.
Preferably, the speed detection sensor of described motor uses code-disc, and the velocity information of described detection motor includes: at the code-disc output pulse number m to reflection rotational speed omega1While counting, time main pulse number m of time that reflection is tested the speed2It is also carried out counting;At the time T that tests the speedcIn, recording motor speed meansigma methods is:
In formula, P is that photoelectric encoder often transfers out pulse number;f0For time main pulse frequency.
The present invention also provides for a kind of joint of robot, including PMSM Servo System, described PMSM Servo System includes permagnetic synchronous motor, Hall element, code-disc, brake, rotary transformer and sine wave drive controller, and described Hall element is the positional information of detection motor when motor initial alignment square wave drive;The positional information of described code-disc detection motor when sine wave drive and velocity information;Described brake is the locking positioning of motor when hard locking;Described rotary transformer is for detecting the positional information in joint;Described localization method uses position ring, speed ring and electric current loop three closed loop system to control electric current operating;
The controller of described position ring can provide different position ring output valves, i.e. speed preset value according to different pose errors;When joint physical location is the nearest with desired locations, i.e. site error is more hour, and speed preset value is the least, makes the slowest of electric machine rotation, until site error reaches positioning accuracy request;
When the error of joint physical location Yu desired locations reaches in accuracy rating, it is tight with two kinds of location modes of hard locking that described servosystem has soft-lock: soft locking mode is to make position control be output as zero, i.e. speed preset value is zero, so that motor stops operating immediately;Hard locking mode, for when site error reaches required precision, uses joint control to export to one level signal of brake, utilizes brake to lock, make motor stop operating immediately.
The localization method of the present invention is capable of being accurately positioned of motor, making motor reach after desired locations will not vibration back and forth in backlash, motor stabilizing, retentivity is good, also collision would not be had between gear, thus achieve the hi-Fix of permagnetic synchronous motor, improve the stability of whole servosystem.The new motor positioning method that the present invention uses improves the stationkeeping ability of motor, and this localization method has the advantages that in motor control
1. method is simple, and motor operates steadily;
2. motor location holding capacity is good, and positioning precision is high.
Accompanying drawing explanation
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 permagnetic synchronous motor hi-Fix soft-lock tight control system block diagram.
Fig. 4 is that permagnetic synchronous motor hi-Fix locks control system block diagram firmly.
Fig. 5 is that M/T method tests the speed schematic diagram.
Fig. 6 a be M/T method test the speed DSP in house software measure time interruption subroutine flow chart.
Fig. 6 b be M/T method test the speed DSP in house software capture interruption subroutine flow chart.
Detailed description of the invention
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as a limitation of the invention.
The Three-loop control actuator of traditional permagnetic synchronous motor, i.e. position ring, speed ring and electric current loop actuator all use PID control method.The present invention is in order to eliminate the impact of backlash in gear drive and realize motor and be accurately positioned, the position control proposing position ring uses speed Discrete control method, i.e. provide different speed preset values according to different rotor position errors, when rotor position error is the least, when i.e. motor physical location is closer to desired locations, speed preset value is the least, electric machine rotation the slowest.Concrete control method is as follows: positional servosystem given position signal θr, joint position sensor rotation transformator detects actual joint position signal θf, after both, obtain position error signal Δ θ=θr-θf, this position error signal through speed segmentation controller regulate after, output rotor rotational speed setup signal ωr.As shown in table 1, when pose error Δ θ is bigger, position ring output speed gives ωrRelatively big, make motor rotation speed;When pose error Δ θ is gradually reduced, when joint physical location moves closer to given position, speed preset ωrThe least, make motor rotation speed the lowest;Until pose error meets required precision.
Table 1 pose error and corresponding motor speed set-point
Δ θ scope | Given ωr |
(-∞ ,-θ0) or (θ0,+∞) | ω0 |
(-θ0,-θ1) or (θ1, θ0) | ω1 |
(-θ1,-θ2) or (θ2, θ1) | ω2 |
…… | …… |
(-θn-1,-θn) or (θn, θn-1) | ωn |
(-θn, θn) | 0 |
Wherein θ0> θ1> θ2> ... > θn-1> θn;
ω0> ω1> ω2> ... > ωn> 0.
The speed regulator of speed ring is identical with traditional Three-loop control mode with the rheonome of electric current loop: actual rotor tach signal obtains ω through actual rotor position signalling through calculus of differencesf, instruction spinner velocity compares formation speed error signal Δ ω=ω afterwards with actual speedr-ωf, speed error signal is as the input of speed regulator, then exports current-order i through rotating speed PID regulationr, current sensor carries out detection to permagnetic synchronous motor three-phase current and DC bus-bar voltage and obtains actual current value if, current error signal Δ i=ir-ifDetermine, through rheonome control algolithm, the dutycycle that device for power switching turns on, finally determine that permanent-magnetic synchronous motor stator winding controls logic, export corresponding PWM waveform so that rotor runs according to the requirement controlled.
When the error of joint physical location Yu desired locations reaches in the range of required precision, the present invention proposes soft-lock, and tightly and two kinds of methods of hard locking realize being accurately positioned of motor.Soft locking positioning mode is as shown in Figure 3: in position ring speed Discrete control, when site error reaches in the range of exact requirements, making position ring output i.e. speed preset is zero, and now motor speed is zero, stops operating immediately.Locking positioning mode is as shown in Figure 4 firmly: when site error reaches in the range of required precision, controller exports to one level of motor side brake, makes brake, motor locking, stops operating immediately.Both locking modes can make motor stop operating immediately after reaching desired locations, will not vibration back and forth in backlash, motor stabilizing, retentivity is good.
Meanwhile, in order to realize high-performance speed governing and the hi-Fix of motor, the present invention uses M/T method to carry out tachometric survey.Tachometric survey utilizes the peculiar function of dsp controller to realize, such as capturing function, orthogonal coding function etc..When utilizing DSP to test the speed, the method that program interrupt can be used.Wherein use three intervalometers: utilize intervalometer 1 to measure high-frequency impulse number;Timer 2 is utilized to measure encoder pulse number;Utilize the intervalometer 3 setting measurement time.
When intervalometer 3 produces cycle interruption, enable capture interruption by measuring time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture and interrupt;In capture interruption subroutine, utilize single general purpose timer 1 to control depositor and start the intervalometer 1 for measuring high-frequency impulse number and for measuring the timer 2 of encoder pulse number simultaneously, simultaneously close off capture and interrupt.When intervalometer 3 produces underflow interruption, again enabling capture interruption by measuring time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, generation capture is interrupted;In capture interruption subroutine, utilize single general purpose timer 1 to control depositor and stop the intervalometer 1 for measuring high-frequency impulse number and for measuring the timer 2 of encoder pulse number simultaneously, then read photoelectric encoder output pulse number and high-frequency clock pulse number, simultaneously close off capture and interrupt.So utilize DSP that photoelectric encoder output pulse is achieved that counting and the synchronization of timing.Before and after high-frequency impulse enumerator, the difference of twice capture value represents output pulse number m2, and main pulse number m when the difference of photoelectric encoder output twice capture value of impulse scaler represents1.Owing to intervalometer 3 is set to increase and decrease continuously pattern, why the cycle is 2Tc, it is because a TcFor testing the speed, another TcCalculating for rotating speed.Shown in measurement time interruption subroutine and capture interruption subroutine flow chart such as Fig. 6 (a) and Fig. 6 (b).
The foregoing is only several specific embodiments of the present invention, above example is only used for explaining technical scheme and inventive concept and unrestricted scope of the presently claimed invention.All technical staff in the art combine prior art on the basis of the inventive concept of this patent, by logical analysis, reasoning or limited experimentation available other technologies scheme, within also should be regarded as falling in the claims of the present invention.
Claims (2)
1. the localization method for the PMSM Servo System of joint of robot, described PMSM Servo System includes permagnetic synchronous motor, Hall element, code-disc, brake, rotary transformer and sine wave drive controller, and described Hall element is the positional information of detection motor when motor initial alignment square wave drive;The positional information of described code-disc detection motor when sine wave drive and velocity information;Described brake is the locking positioning of motor when hard locking;Described rotary transformer is for detecting the positional information in joint;Described localization method uses position ring, speed ring and electric current loop three closed loop system to control electric current operating, the method comprise the steps that
The controller utilizing described position ring provides different position ring output valves, i.e. speed preset value according to different pose errors;When joint physical location is the nearest with desired locations, i.e. site error is more hour, and speed preset value is the least, makes the slowest of electric machine rotation, until site error reaches positioning accuracy request;Positional servosystem given position signal θr, described rotary transformer detects actual joint position signal θf, after both, obtain position error signal Δ θ=θr-θf, this position error signal through speed segmentation controller regulate after, output rotor rotational speed setup signal ωr, when pose error Δ θ is bigger, position ring output speed gives ωrRelatively big, make motor rotation speed;When pose error Δ θ is gradually reduced, when joint physical location moves closer to given position, speed preset ωrThe least, make motor rotation speed the lowest;Until pose error meets required precision;
When the error of joint physical location Yu desired locations reaches in accuracy rating, it is provided that soft-lock two kinds of location modes of tight and hard locking: soft locking mode is to make position control be output as zero, i.e. speed preset value is zero, so that motor stops operating immediately;Hard locking mode, for when site error reaches required precision, uses joint control to export to one level signal of brake, utilizes brake to lock, make motor stop operating immediately;
The controller of described speed ring and electric current loop uses PID control method;
The speed detection sensor of described motor uses code-disc, and the velocity information of described detection motor includes: at the code-disc output pulse number m to reflection rotating speed n1While counting, time main pulse number m of time that reflection is tested the speed2It is also carried out counting;At the time T that tests the speedcIn, recording motor speed meansigma methods is:
In formula, P is that photoelectric encoder often transfers out pulse number;f0For time main pulse frequency;
Described servosystem includes dsp controller, when detecting motor speed information, uses three intervalometers of described dsp controller: utilize intervalometer 1 to measure high-frequency impulse number;Timer 2 is utilized to measure encoder pulse number;Utilize the intervalometer 3 setting measurement time;
When intervalometer 3 produces cycle interruption, enable capture interruption by measuring time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture and interrupt;In capture interruption subroutine, start for measuring the intervalometer 1 of high-frequency impulse number and for measuring the timer 2 of encoder pulse number simultaneously, simultaneously close off capture and interrupt;
When intervalometer 3 produces underflow interruption, again enabling capture interruption by measuring time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, generation capture is interrupted;In capture interruption subroutine, stop for measuring the intervalometer 1 of high-frequency impulse number and for measuring the timer 2 of encoder pulse number simultaneously, then read code-disc output pulse number and high-frequency clock pulse number, simultaneously close off capture and interrupt;
Main pulse number m when the difference of twice capture value represents before and after high-frequency impulse enumerator2, and the difference of photoelectric encoder output twice capture value of impulse scaler represents output pulse number m1;Owing to intervalometer 3 is set to increase and decrease continuously pattern, its cycle is 2Tc, one of them TcFor testing the speed, another TcCalculating for rotating speed.
2. a joint of robot, including PMSM Servo System, described PMSM Servo System includes permagnetic synchronous motor, Hall element, code-disc, brake, rotary transformer and sine wave drive controller, and described Hall element is the positional information of detection motor when motor initial alignment square wave drive;The positional information of described code-disc detection motor when sine wave drive and velocity information;Described brake is the locking positioning of motor when hard locking;Described rotary transformer is for detecting the positional information in joint;Localization method uses position ring, speed ring and electric current loop three closed loop system to control electric current operating;
The controller of described position ring can provide different position ring output valves, i.e. speed preset value according to different pose errors;When joint physical location is the nearest with desired locations, i.e. site error is more hour, and speed preset value is the least, makes the slowest of electric machine rotation, until site error reaches positioning accuracy request;Positional servosystem given position signal θr, described rotary transformer detects actual joint position signal θf, after both, obtain position error signal Δ θ=θr-θf, this position error signal through speed segmentation controller regulate after, output rotor rotational speed setup signal ωr, when pose error Δ θ is bigger, position ring output speed gives ωrRelatively big, make motor rotation speed;When pose error Δ θ is gradually reduced, when joint physical location moves closer to given position, speed preset ωrThe least, make motor rotation speed the lowest;Until pose error meets required precision;
When the error of joint physical location Yu desired locations reaches in accuracy rating, it is tight with two kinds of location modes of hard locking that described servosystem has soft-lock: soft locking mode is to make position control be output as zero, i.e. speed preset value is zero, so that motor stops operating immediately;Hard locking mode, for when site error reaches required precision, uses joint control to export to one level signal of brake, utilizes brake to lock, make motor stop operating immediately;
The controller of described speed ring and electric current loop uses PID control method;
The speed detection sensor of described motor uses code-disc, and the velocity information of described detection motor includes: at the code-disc output pulse number m to reflection rotating speed n1While counting, time main pulse number m of time that reflection is tested the speed2It is also carried out counting;At the time T that tests the speedcIn, recording motor speed meansigma methods is:
In formula, P is that photoelectric encoder often transfers out pulse number;f0For time main pulse frequency;
Described servosystem includes dsp controller, and when detecting motor speed information, described dsp controller utilizes intervalometer 1 to measure high-frequency impulse number, utilizes timer 2 to measure encoder pulse number, utilizes the intervalometer 3 setting measurement time;Described dsp controller is configured to:
When intervalometer 3 produces cycle interruption, enable capture interruption by measuring time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, produce capture and interrupt;In capture interruption subroutine, start for measuring the intervalometer 1 of high-frequency impulse number and for measuring the timer 2 of encoder pulse number simultaneously, simultaneously close off capture and interrupt;
When intervalometer 3 produces underflow interruption, again enabling capture interruption by measuring time interruption subroutine, when capturing unit captures the rising edge of photoelectric encoder output pulse, generation capture is interrupted;In capture interruption subroutine, stop for measuring the intervalometer 1 of high-frequency impulse number and for measuring the timer 2 of encoder pulse number simultaneously, then read code-disc output pulse number and high-frequency clock pulse number, simultaneously close off capture and interrupt;
Main pulse number m when the difference of twice capture value represents before and after high-frequency impulse enumerator2, and the difference of photoelectric encoder output twice capture value of impulse scaler represents output pulse number m1;Owing to intervalometer 3 is set to increase and decrease continuously pattern, its cycle is 2Tc, one of them TcFor testing the speed, another TcCalculating for rotating speed.
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