CN104993764B - Based on a kind of control method of the electric machine controller of parameter self-tuning - Google Patents
Based on a kind of control method of the electric machine controller of parameter self-tuning Download PDFInfo
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Abstract
The invention discloses a kind of electric machine controller and its control method based on a kind of parameter self-tuning, it is related to electric machine control system device field, the electric machine controller and its control method based on a kind of parameter self-tuning are by shifting to an earlier date the rotary inertia of identification system, controlled system is turned to first order inertial loop and second-order inertia link, Self-tuning System is carried out to PID controller control parameter, engineering practicability is stronger.Controller has good motor control performance, Self-tuning System can be carried out to control parameter simultaneously, obtain the optimized parameter of electric machine control system, electric machine control system is set to can adapt to more complicated operating mode, meet the requirement of user's high performance index, there is great theoretical research value and practical engineering value.It can be widely applied to the industry-by-industry fields such as intelligent wheel chair control, unmanned hay mover, industrial automation, national defence aviation.
Description
Technical field
The present invention relates to electric machine control system device field, a kind of more particularly to a kind of motor control based on parameter self-tuning
The control method of device processed.
Background technology
With the rapidly development of the industries such as national defence, aviation, intelligent industry, Industry Control, to the demand of electric machine control system
Also expand day by day, while higher requirement is also proposed to electric machine control system, it is desirable to which system can adapt to the change of working environment
Change and keep excellent performance.Therefore, the high performance motor driven systems with excellent adaptability are researched and developed with very great
Economic benefit and social benefit.
At present, the parameter tuning of most types of controller works mainly by manually completing, different by observing
The rule of the running status of system carrys out multiple adjustment control device parameter under parameter, wastes time and energy, ineffective, and parameter tuning
The requirement to work to operating personnel is higher.Just system is come into operation if the result of parameter tuning is undesirable, it will very great Cheng
The performance of system is influenceed on degree, or even causes system unstable.
The content of the invention
In order to overcome it is traditional as operating personnel adjust pid control parameter manually caused by limitation, the present invention provides
The electric machine controller and its control method of a kind of parameter self-tuning.The controller is designed based on DSP, tool
Standby powerful digital operation and motor control ability, while the moving movement attitude conirol method based on DSP is developed, it is real
Show motion controller speed, the practical technology of positioner pid parameter Self-tuning System, can be widely applied to intelligent wheel chair control
The industry-by-industry fields such as system, unmanned hay mover, industrial automation, national defence aviation.
To achieve the above object, the present invention provides following technical scheme：It is a kind of based on a kind of motor of parameter self-tuning
The control method of controller, it is characterised in that：It is described to be included based on a kind of control method of the electric machine controller of parameter self-tuning
Electric machine control system software and electric machine control system hardware, electric machine control system software include main program, various interruptions, rotate and be used to
Amount identification module and PI parameter self-tuning modules, program, which is all adopted, shows a C language program, and each functional module is rationally sealed
Dress, is analyzed using motor model, picks out the value of rotary inertia, straight in conjunction with the relational expression of PI controller parameters and rotary inertia
Connect and calculate suitable control parameter, realize the Self-tuning System of controller parameter, the realization of electric machine control system software includes rotating speed
The calculating of ring parameter, the calculating of position ring parameter, parameter identification and setting function module, PID motor controls.
Electric machine control system hardware is divided into control module and power driver module two parts, and motor control module mainly includes
Power circuit, clock circuit, reset circuit, JATG artificial circuits, circuit for controlling motor, AD sample circuits and communicating circuit, report
Alert circuit, motor drive module mainly include main drive circuit, isolation and buffer circuit, overvoltage crowbar, owe electric protection electricity
Road, current foldback circuit, thermal-shutdown circuit, short-circuit protection circuit, armature supply overload protecting circuit, reverse power connection protection and
Fault secure circuit, the acp chip that core processing plate uses are the TMS320F2812 processors of TI companies as digital control
The CPU of system.
The open-loop transfer function that the calculating of der Geschwindigkeitkreis parameter is divided into der Geschwindigkeitkreis is：
Wherein：TcFor the time constant of electric current loop single order equivalent transfer function, γmFor Phase margin, TsiFor der Geschwindigkeitkreis control
Device time constant processed, kspFor the proportionality coefficient of der Geschwindigkeitkreis control, ωcFor der Geschwindigkeitkreis open-loop cut-off frequency, kcfFed back for electric current loop
Channel gain, ksfFor der Geschwindigkeitkreis feedback channel gain, KtFor torque constant, J is rotary inertia；Letter is transmitted according to der Geschwindigkeitkreis open loop
Number, phase angle ∠ Gs(jω)Hs(j ω) existsPlace obtains maximum, choosesAs der Geschwindigkeitkreis open loop cutoff frequency
Rate ωc, T is then determined according to der Geschwindigkeitkreis Phase marginisValue, last basis | Gs(jωc)Hs(jωc) |=1, determine ksp
Value,
Specifically, the design of der Geschwindigkeitkreis control parameter is carried out by following two formula：
The calculating der Geschwindigkeitkreis open-loop transfer function of position ring parameter is：
Compare for der Geschwindigkeitkreis, the bandwidth of position ring is much lower, and it can be considered to der Geschwindigkeitkreis closed loop is transmitted into letter
Number is equivalent to first order inertial loop：
In order to ensure it is equivalent before and it is equivalent after closed loop amplitude versus frequency characte closed-loop bandwidth it is identical, makeWherein ωbFor
Der Geschwindigkeitkreis closed-loop bandwidth, the servo-drive system of the position ring of adoption rate controller can obtain a typical second-order system：Natural frequency and damping ratio can be obtained, makes damping ratio be more than 1, the ratio of position ring can be calculated
Example COEFFICIENT Kp。
PID motor controls use digital pid control algolithm, and electric machine control system is changed by electric current loop, speed, position ring three
Closed loop is formed, and electric current loop is as inner ring, and as middle ring, position ring is controlled as outer shroud speed ring to servomotor successively,
Electric current loop can improve the response speed of armature supply and ensure the reliability of system, and speed ring has changed anti-interference to load and made
With guarantee rotating speed tracks rapidly upper input signal, and it is specified that position ring then make it that motor rotates to rapidly according to position input signal
Position.
Beneficial effect using above technical scheme is：This is based on a kind of controlling party of the electric machine controller of parameter self-tuning
Controlled system is turned to first order inertial loop and second-order inertia link, PID is controlled by method by shifting to an earlier date the rotary inertia of identification system
Device control parameter processed carries out Self-tuning System, and engineering practicability is stronger.Controller has good motor control performance, while can be to control
Parameter processed carries out Self-tuning System, obtains the optimized parameter of electric machine control system, can adapt to electric machine control system more complicated
Operating mode, meet the requirement of user's high performance index, there is great theoretical research value and practical engineering value.Can extensive use
In industry-by-industry fields such as intelligent wheel chair control, unmanned hay mover, industrial automation, national defence aviations.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the present invention based on a kind of electric machine control system figure of the control method of the electric machine controller of parameter self-tuning；
Fig. 2 is the present invention based on a kind of digital three closed loop servo of the control method of the electric machine controller of parameter self-tuning
Control structure figure；
Fig. 3 is the present invention based on a kind of PID motor control programs of the control method of the electric machine controller of parameter self-tuning
Flow chart；
Fig. 4 is a kind of controller hardware design of the present invention based on control method of the electric machine controller of parameter self-tuning
Figure.
Embodiment
The invention will now be described in detail with reference to the accompanying drawings based on a kind of control method of the electric machine controller of parameter self-tuning
Preferred embodiment.
Show the present invention based on a kind of the specific of control method of the electric machine controller of parameter self-tuning with reference to Fig. 1 and Fig. 2
Embodiment：This includes electric machine control system software and motor based on a kind of control method of the electric machine controller of parameter self-tuning
Control system hardware, electric machine control system software include main program, it is various interrupt, identification of rotational inertia module and PI parameters be from whole
Cover half block, program, which is all adopted, shows a C language program, and each functional module is rationally encapsulated, and is analyzed, distinguished using motor model
Know the value for rotary inertia, suitable control ginseng is directly calculated in conjunction with the relational expression of PI controller parameters and rotary inertia
Number, realizes the Self-tuning System of controller parameter, and the realization of electric machine control system software includes the calculating of der Geschwindigkeitkreis parameter, position ring ginseng
Several calculating, parameter identification and setting function module, PID motor controls.
Electric machine control system hardware is divided into control module and power driver module two parts, and motor control module mainly includes
Power circuit, clock circuit, reset circuit, JATG artificial circuits, circuit for controlling motor, AD sample circuits and communicating circuit, report
Alert circuit；Motor drive module mainly includes main drive circuit, isolation and buffer circuit, overvoltage crowbar, owes electric protection electricity
Road, current foldback circuit, thermal-shutdown circuit, short-circuit protection circuit, armature supply overload protecting circuit, reverse power connection protection and
Fault secure circuit, the acp chip that core processing plate uses are the TMS320F2812 processors of TI companies as digital control
The CPU of system.
The calculating of der Geschwindigkeitkreis parameter：For der Geschwindigkeitkreis, what designer often pursued is in the stable premise of system
Under, as much as possible improve der Geschwindigkeitkreis response speed.And the stability and response speed of system can respectively by closed-loop bandwidth and
Phase margin is measured.
A. closed-loop bandwidth
Frequency corresponding to system closed loop amplitude versus frequency characte -3dB points, it is closed-loop bandwidth value ωb.Bandwidth and open-loop cut-off frequency ωc
(frequency values corresponding to open loop amplitude versus frequency characte zero crossing) have uniformity, generally during controller design, open loop cutoff frequency
Rate is easier to obtain, therefore often replaces closed-loop bandwidth to characterize the response speed of system using open-loop cut-off frequency.
B. Phase margin
Define ωcFor the cut-off frequency of system, amplitude versus frequency characte is A (w), then A (ωc)=| G (j ωc)H(jωc)|.Definition
Phase margin is γ=180 °+∠ G (j ωc)H(jωc), embodiment is meant that, for closed-loop system, if system open loop phase frequency
Characteristic lags γ degree again, then system will be in critical stable state.
For electric current loop and Rotating speed measring link, the response speed of der Geschwindigkeitkreis is slower, therefore can be by electric current loop
Closed loop transfer function, be equivalent to first order inertial loop, by Rotating speed measring link be equivalent to proportional component carry out rotating speed ring controller
The design of parameter.
The open-loop transfer function of der Geschwindigkeitkreis is：
Wherein：TcFor the time constant of electric current loop single order equivalent transfer function, γmFor Phase margin, TsiFor der Geschwindigkeitkreis control
Device time constant processed, kspFor the proportionality coefficient of der Geschwindigkeitkreis control, ωcFor der Geschwindigkeitkreis open-loop cut-off frequency, kcfFed back for electric current loop
Channel gain, ksfFor der Geschwindigkeitkreis feedback channel gain, KtFor torque constant, J is rotary inertia.
According to der Geschwindigkeitkreis open-loop transfer function, phase angle ∠ Gs(jω)Hs(j ω) existsPlace obtains maximum, choosing
TakeAs der Geschwindigkeitkreis open-loop cut-off frequency ωc, T is then determined according to der Geschwindigkeitkreis Phase marginisValue, last basis |
Gs(jωc)Hs(jωc) |=1, determine kspValue.
Specifically, the design of der Geschwindigkeitkreis control parameter is carried out by following two formula：
The calculating of position ring parameter：Position ring is located at the most outer shroud of closed-loop control system, completes position follower and positioning
Function, most of application scenarios require that overshoot can not occur in position control, so in general integral element is not allow to occur
In positioner, in most cases position ring is only with proportional controller.Here controlled based on above der Geschwindigkeitkreis
Device is adjusted, and proposes the setting mode of position ring proportional gain.
Der Geschwindigkeitkreis open-loop transfer function first is：
Compare for der Geschwindigkeitkreis, the bandwidth of position ring is much lower, and it can be considered to der Geschwindigkeitkreis closed loop is transmitted into letter
Number is equivalent to first order inertial loop：
In order to ensure it is equivalent before and it is equivalent after closed loop amplitude versus frequency characte closed-loop bandwidth it is identical, makeWherein ωbFor
Der Geschwindigkeitkreis closed-loop bandwidth.
During der Geschwindigkeitkreis control parameter is adjusted, the acquisition of der Geschwindigkeitkreis closed-loop bandwidth is general more difficult, and rotating speed
The acquisition of ring open-loop cut-off frequency is comparatively relatively simple, simultaneously because the closed-loop bandwidth and open-loop cut-off frequency of system have
Uniformity (increase, another also increases), and numerical value is close (closed-loop bandwidth is slightly larger than open-loop cut-off frequency), therefore here
Carry out der Geschwindigkeitkreis closed loop transfer function, it is equivalent when, open-loop cut-off frequency ω can be usedcIt is normal to calculate the time of inertial element
Number.
The servo-drive system of the position ring of adoption rate controller can obtain a typical second-order system：
Natural frequency and damping ratio can be obtained, makes damping ratio be more than 1, the Proportional coefficient K of position ring can be calculatedp。
PID motor controls：PID controller is according to the deviation that system is given and feeds back, proportion of utilization, integration, differential side
Method is handled deviation signal, is calculated controlled quentity controlled variable and is acted on controlled device, makes deviation that is given and feeding back to minimum direction
Change.The time-domain expression of typical PID controller is as follows：
In formula, Kp--- rate mu-factor, TI--- the time of integration, TD--- derivative time.
Above formula discretization digital pid controller expression formula has just been obtained into
In formula, u (k) --- the control of k-th of sampling instant, KI--- integration amplification coefficient, KD--- differential amplification system
Number.
This servo-control system uses digital pid control algolithm.Electric machine control system is changed by electric current loop, speed, position
The closed loop of ring three is formed, and its structure is as shown in Figure 2.
Electric current loop is controlled to servomotor successively as inner ring, speed ring as middle ring, position ring as outer shroud.
Electric current loop can improve the response speed of armature supply and ensure the reliability of system.Speed ring has changed anti-interference to load and made
With guarantee rotating speed tracks rapidly upper input signal.Position ring then causes motor rotates to rapidly mutually to refer to according to position input signal
Positioning is put.
PID motor control program flow diagrams are as shown in Figure 3.
Controller hardware designs：Core processing plate uses TMS320F2812 processor conduct of the acp chip for TI companies
The CPU of numerical control system.TMS320F2812 Digital System Processors are for digital control designed DSP, are incorporated
DSP and microcontroller optkmal characteristics, embedded Control application is mainly used in, has covered industry, communication, entertained, be individual
The fields such as people's medical treatment, education, environmental Kuznets Curves, safety.Optimized for application, and effectively shorten product development cycle, F28x cores
The heart supports the C compiler of brand-new CCS environment, there is provided the program development interface of assembler language is directly embedded into C language, can be in C
Assembler language is arranged in pairs or groups in the environment of language to write program.
Jtag interface is used for DSP debugging interfaces, is debugged for system program.UART controller is connected upper by RS485
Machine, communicated with host computer, realize data transfer.The break-make of PWM module output pwm pulse waveform control drive module, it is real
Now to the control function of motor.Voltage, electric current, temperature detection are connected to DSP A/D mouths, realize the collection of analogue data, realize and protect
Shield and feedback control.Hardware frame structure is illustrated in fig. 4 shown below.
The above is only the preferred embodiment of the present invention, it is noted that for the person of ordinary skill of the art,
Without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.
Claims (2)
- It is 1. a kind of based on a kind of control method of the electric machine controller of parameter self-tuning, it is characterised in that：It is described to be based on a seed ginseng The control method of the electric machine controller of number Self-tuning System includes electric machine control system software and electric machine control system hardware, motor control System software includes main program, various interruption, identification of rotational inertia module and PI parameter self-tuning modules, and program is all using C Language writes program, and each functional module is rationally encapsulated, and is analyzed using motor model, picks out the value of rotary inertia, then Suitable control parameter is directly calculated with reference to the relational expression of PI controller parameters and rotary inertia, realizes controller parameter oneself Adjust, the realization of electric machine control system software include the calculating of der Geschwindigkeitkreis parameter, the calculating of position ring parameter, parameter identification with it is whole Determine functional module, PID motor controls；Electric machine control system hardware is divided into control module and power driver module two parts, motor Control module mainly includes power circuit, clock circuit, reset circuit, JATG artificial circuits, circuit for controlling motor, AD sampling electricity Road and communicating circuit, warning circuit, motor drive module mainly include main drive circuit, isolation and buffer circuit, overvoltage protection Circuit, owe electric protection circuit, current foldback circuit, thermal-shutdown circuit, short-circuit protection circuit, armature supply overload protection electricity Road, reverse power connection protection and fault secure circuit, the acp chip that core processing plate uses for the TMS320F2812 of TI companies at Manage CPU of the device as numerical control system；The open-loop transfer function that the calculating of the der Geschwindigkeitkreis parameter is divided into der Geschwindigkeitkreis is：<mrow> <msub> <mi>G</mi> <mi>s</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <msub> <mi>H</mi> <mi>s</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <msub> <mi>k</mi> <mrow> <mi>s</mi> <mi>p</mi> </mrow> </msub> <msub> <mi>K</mi> <mi>t</mi> </msub> <msub> <mi>k</mi> <mrow> <mi>s</mi> <mi>f</mi> </mrow> </msub> </mrow> <mrow> <msub> <mi>T</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <msub> <mi>k</mi> <mrow> <mi>c</mi> <mi>f</mi> </mrow> </msub> <mi>J</mi> </mrow> </mfrac> <mo>&CenterDot;</mo> <mfrac> <mrow> <msub> <mi>T</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mi>s</mi> <mo>+</mo> <mn>1</mn> </mrow> <mrow> <msup> <mi>s</mi> <mn>2</mn> </msup> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>c</mi> </msub> <mi>s</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </mfrac> </mrow>Wherein：TcFor the time constant of electric current loop single order equivalent transfer function, γmFor Phase margin, TsiFor rotating speed ring controller when Between constant, kspFor the proportionality coefficient of der Geschwindigkeitkreis control, ωcFor der Geschwindigkeitkreis open-loop cut-off frequency, kcfIncrease for electric current loop feedback channel Benefit, ksfFor der Geschwindigkeitkreis feedback channel gain, KtFor torque constant, J is rotary inertia；According to | Gs(jωc)Hs(jωc) |=1, Determine kspValue,Specifically, the design of der Geschwindigkeitkreis control parameter is carried out by following two formula：<mrow> <msub> <mi>T</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>T</mi> <mi>c</mi> </msub> <msup> <mrow> <mo>(</mo> <msub> <mi>tan&gamma;</mi> <mi>m</mi> </msub> <mo>+</mo> <msqrt> <mrow> <msup> <mi>tan</mi> <mn>2</mn> </msup> <msub> <mi>&gamma;</mi> <mi>m</mi> </msub> <mo>+</mo> <mn>1</mn> </mrow> </msqrt> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow><mrow> <msub> <mi>k</mi> <mrow> <mi>s</mi> <mi>p</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msubsup> <mi>&omega;</mi> <mi>c</mi> <mn>2</mn> </msubsup> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>T</mi> <mi>c</mi> </msub> <msub> <mi>&omega;</mi> <mi>c</mi> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>1</mn> </mrow> </msqrt> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>T</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <msub> <mi>&omega;</mi> <mi>c</mi> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>1</mn> </mrow> </msqrt> </mfrac> <mo>&times;</mo> <mfrac> <mrow> <msub> <mi>T</mi> <mrow> <mi>s</mi> <mi>i</mi> </mrow> </msub> <msub> <mi>k</mi> <mrow> <mi>c</mi> <mi>f</mi> </mrow> </msub> <mi>J</mi> </mrow> <mrow> <mn>9.55</mn> <msub> <mi>k</mi> <mrow> <mi>s</mi> <mi>f</mi> </mrow> </msub> <msub> <mi>K</mi> <mi>t</mi> </msub> </mrow> </mfrac> <mo>.</mo> </mrow>
- It is 2. according to claim 1 based on a kind of control method of the electric machine controller of parameter self-tuning, it is characterised in that： The PID motor controls use digital pid control algolithm, and electric machine control system is by electric current loop, speed ring, the closed loop of position ring three Form, electric current loop is controlled, electric current to servomotor successively as inner ring, speed ring as middle ring, position ring as outer shroud Ring can improve the response speed of armature supply and ensure the reliability of system, and speed ring has changed anti-interference effect to load, protected Demonstrate,proving rotating speed, the upper input signal of tracking, position ring then cause motor to rotate to corresponding specific bit rapidly according to position input signal rapidly Put.
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