CN105071723A - Brushed direct current motor compound control method design by three-step approach - Google Patents
Brushed direct current motor compound control method design by three-step approach Download PDFInfo
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Abstract
The present invention discloses a brushed direct current motor compound control method design by a three-step approach, belongs to the technical field of motors, and aims to solve the problem of speedability and slow running instability in a speed control process of a direct current motor through a feedforward and feedback direct current motor designed by a three-step approach. The method comprises a step of establishing a mathematical model of a direct current brushed motor, and a step of speed regulation compound control of the feedforward and feedback direct current motor designed by the three-step approach. Internal and external operations are separated, the operation loads of a digital processor are reduced, the operation cost is saved, and the control performance is promoted.
Description
Technical field
The invention belongs to technical field of motors.
Background technology
In recent years, have brushless motor in robot, Aero-Space, automobile electronic system, the fields such as photoelectric servo system are widely used.In order to make it more be applied in more field, people constantly improve the requirement to Electric Machine Control performance, but development difficulty is also increasing greatly, mainly there is following problem:
1. early stage DC motor speed drive system carries out speed governing with single closed loop pid algorithm, although this algorithm dependable performance, structure is simple, but cannot overcome the impact that load parameter wide variation and non-linear factor cause system, so be also difficult to gradually meet control overflow.
2., in engineering practice, there is the smooth adjustment of carrying out speed in the certain scope of many manufacturing machine requirements, and require good stable state, dynamic characteristic, simultaneously can tracing preset speed fast.Traditional pure feedback is difficult to take into account these indexs.
3. because the rotating mechanism of direct current machine exists non-linear friction and motor " dead band " phenomenon, make motor produce not stationarity when low cruise, even Closed loop track pole low-speed motion target or accurately location time can produce stagnant cunning, the deleterious characteristics such as to creep.It destroys the uniformity of system motion, seriously hinders the raising of high-precision servo governing system performance.Because PID controller has good control performance to linear system, but poor to Control of Nonlinear Systems effect.So traditional PID controller, the uncontrollable electric system that there is non-linear friction reaches very high precision.
At present in order to solve the difficulty that DC servo speed control system runs in the middle of practice, many experts have carried out many effort in DC motor control method, and the speed control for direct current machine has proposed many shaping methods:
China Patent Publication No. CN104467557, publication date is on March 25th, 2015, and number of patent application is 201410737472.5, and name of patent application is " speed regulating method of direct current machine ".That patent describes and a kind ofly relate to the DC wotor speed control method that DC speed regulation moves back online group.First, according to motor diameter with rod and gear ratio, calculate the theoretical velocity of unit under different linear velocity.Then, starter motor, makes motor fast idle to eliminate the contact resistance of direct current motor brush.Finally measure the rotating speed from roller, compare from the measurement rotating speed of roller and described theoretical rotational speed, according to comparative result adjustment rotating speed.The method that the method embodiment can be combined with Mechanical course by computer control adjusts DC generator speed, but the method designed system all needs idle running a period of time to eliminate contact resistance at every turn before starting, use inconvenience.The mechanical structure that this invention is more simultaneously, maintenance upgrade is more difficult, uses underaction.
China Patent Publication No. CN102946220A, publication date is on February 27th, 2013, and number of patent application is 201210499435.6, and name of patent application is " Speed Regulation System Based on DC Motor and method for control speed ".That patent describes a kind of Speed Regulation System Based on DC Motor and method for control speed, in the rotating speed of described three-phase DC motor is controlled, by the actual speed of described three-phase DC motor compared with preset rotation speed, actual speed according to comparative result correction, makes described three-phase DC motor be stabilized in described preset rotation speed.This inventive embodiments can improve the stability of three-phase DC motor by the method for closed-loop control, but rapidity has to be hoisted.
China Patent Publication No. CN101394147A, publication date is on September 12nd, 2008, and number of patent application is 200810195896.8, and name of patent application is " motor speed control device and method ".That patent describes a kind of DC motor speed control device and method, the rotating speed of first Negotiation speed determining unit determination direct current machine, by the feedback speed signal input control device of direct current machine, by controller, the speed command signal of input and feedback speed signal are compared generation speed error signal again, by controller computing carried out to speed error signal and compare the speed control signal producing direct current machine.Using such method, can improve static characteristic and the dynamic characteristic of DC wotor speed control, but the method adopts single closed-loop control, and it is not so good as double-closed-loop control to the Immunity Performance of motor.
Traditional DC MOTOR CONTROL algorithm great majority adopt single closed loop or Dual-loop feedback control to control, although have good adjusting function like this.But in the occasion higher to motor rapidity, Immunity Performance and low speed stepless speed control performance requirement, cannot satisfy the demands.
Summary of the invention
The feedforward that the object of the invention is to be designed by three-step approach adds feedback direct current machine, solve rapidity and low cruise in DC wotor speed control process not stationarity problem three-step approach design have brushless motor composite control method.
Step of the present invention is:
1. the Mathematical Modeling of DC electromotor with brush is set up
Set up the voltage balance equation of DC motor:
In formula, E is the induced electromotive force (V) of direct current machine;
it is the magnetic flux (Wb) of the every magnetic pole of motor;
it is the back EMF constant that DC motor structure determines;
be the electromotive force rotating ratio of motor under rated flux (
), and
;
be motor speed, unit is
（2）
In formula,
be motor electromagnetic torque (
);
it is the armature supply (A) of motor;
it is the torque constant that DC motor structure determines;
be the torque current ratio of motor under rated flux (
), and
;
The differential equation of armature circuit:
（3）
Namely
(4)
Kinetics equation on direct current drive arbor is:
（5）
In formula,
be flywheel inertia on motor reel (
);
be load torque (
);
be motor speed (
)
Arrangement obtains:
（6）
In formula,
it is the electromagnetic time constant of motor;
it is the electro mechanic time constant of motor;
Having obtained brushless motor Mathematical Modeling is thus:
（7）；
2. the feedforward designed based on three-step approach adds the DC motor speed-regulating complex controll of feedback: three-step approach is divided into: stable state controls, with reference to dynamic Feedforward control, Error Feedback control:
I,
the design of outer ring controller:
The first step: stable state controls
Outer shroud state equation is:
（8）
Stable state control inputs is
; According to limit, order
bring (8) into obtain:
（9）
Moment of friction
steady-state model is determined by following formula:
（10）
Four unknown parameters in Stribeck model by experiment method record;
Then
（11）
Second step: control with reference to dynamic Feedforward
If control rate is
, (8) formula of bringing into obtains:
（12）
Abbreviation obtains:
（13）
Order
, substitute into above formula and obtain
（14）；
3rd step: Error Feedback controls:
If control rate is
, and definition tracking error is
, then have
（15）
Abbreviation obtains:
（16）
Get liapunov function
（17）
Then have
(18)
Get
substitution above formula obtains
（19）
Then total control law is:
（20）；
iI, inner ring Controller gain variations:
Inner ring state equation is:
（21）
The first step: stable state controls
According to limit, order
bring (21) into obtain:
(22)
Second step: control with reference to dynamic Feedforward
Order
(23)
3rd step: Error Feedback controls
Definition tracking error is
, then have
(24)
Abbreviation obtains:
(25)
Order
(26)
Then have
(27)
Order
Bring formula (27) into:
（28）
Then total control law is
（29）。
The invention has the beneficial effects as follows:
1, the present invention introduces feedfoward control on the basis of traditional motor double loop speed-regulating system, and feedforward controller and feedback controller are derived according to three-step approach and obtained.Feedback controller and PI controller have identical form.The time of origin of feedforward control action is moment in reference input effect and does not need after deviation occurs by the time, thus promotes the rapidity of controlled device.And feedforward controller introduces Nonlinear Friction signal, the impact of non-linear friction on rotating speed stationarity and accuracy can be slackened.
2, in the present invention, adopt analog circuit to realize the inner ring PI feedback controller of traditional motor double loop speed-regulating system, analog circuit has the less sampling period, reduces the fluctuation of inner ring.Meanwhile, inner and outer ring controls to be realized by analog circuit and digital processing unit respectively, does like this by inner and outer ring computing separately, reduces digital processing unit computational burden, save computing cost, improve control performance.
Accompanying drawing explanation
Fig. 1. be brush direct current motor control system block diagram of the present invention;
Fig. 2. be DC electromotor with brush armature circuit equivalent model;
Fig. 3. be DC electromotor with brush equivalent mathematical model block diagram;
Fig. 4. be Stribeck model velocity friction torque curve;
Fig. 5. during for zero load, adopt step response rotating-speed tracking empirical curve during traditional double closed-loop control, wherein ordinate is rotating speed, and unit is
, abscissa is the time, and unit is 0.1s;
Fig. 6. during for zero load, adopt the step response rotating-speed tracking empirical curve of control method of the present invention, wherein ordinate is rotating speed, and unit is
, abscissa is the time, and unit is 0.1s;
Fig. 7. during for zero load, adopt sinusoidal signal rotating-speed tracking empirical curve during traditional double closed-loop control, red line is desired signal, and blue line is actual measurement rate signal, and wherein ordinate is rotating speed, and unit is
, abscissa is the time, and unit is s;
Fig. 8. during for zero load, adopt the sinusoidal signal rotating-speed tracking empirical curve of control method of the present invention, red line is desired signal, and blue line is actual measurement rate signal, and wherein ordinate is rotating speed, and unit is
, abscissa is the time, and unit is s;
Fig. 9. during for zero load, adopt low regime step response rotating-speed tracking empirical curve during traditional double closed-loop control, wherein ordinate is rotating speed, and unit is
, abscissa is the time, and unit is s;
Figure 10. during for zero load, adopt the low regime step response rotating-speed tracking empirical curve of control method of the present invention, wherein ordinate is rotating speed, and unit is
, abscissa is the time, and unit is s.
Embodiment
Find in research and practice process: comparatively suitable feedforward adds feedback double-closed-loop control algorithm can overcome the problem that above performance can not take into account simultaneously, brings better speed adjusting performance.Process is analyzed brush direct current motor design feature, based on electromagnetism and mechanical equation, sets up brush direct current motor Mathematical Modeling, devises to feedover thus to add the DC motor speed-regulating composite control method of feedback based on three-step approach.
Step of the present invention is:
1. the voltage balance equation of DC motor is set up:
Fig. 1 for having brushless motor to power and inner schematic diagram, as can be seen from the figure, the parts of essential electrical when having brushless motor to work by armature internal resistance R, inductance L and an electromotive force E tri-part composition; Voltage source u is direct current machine power supply, and represent the voltage being applied to motor two ends, the size of voltage determines the rotating speed of motor; L represents the magnetic field of armature in motor, and this part makes motor rotate acting, converts electrical energy into mechanical energy; Armature resistance R is the internal resistance of electric wire needed for coiling motor coil, when electric current I flows through armature internal resistance R by generation voltage drop and consumed power is converted to heat.
Induced electromotive force and the electromagnetic torque of direct current machine can be derived according to the structure of motor and the law of electromagnetic induction, the Mathematical Modeling of DC electromotor with brush can be set up according to KVL law, voltage balance equation:
In formula, E is the induced electromotive force (V) of direct current machine;
it is the magnetic flux (Wb) of the every magnetic pole of motor;
it is the back EMF constant that DC motor structure determines;
be the electromotive force rotating ratio of motor under rated flux (
), and
;
be motor speed, unit is
（2）
In formula,
be motor electromagnetic torque (
);
it is the armature supply (A) of motor;
it is the torque constant that DC motor structure determines;
be the torque current ratio of motor under rated flux (
), and
;
According to Fig. 1, the input variable of system is armature voltage u, and the output variable of control system is the rotating speed of motor
.According to voltage law, the differential equation of armature circuit can be obtained:
（3）
Namely
(4)
Consider the resistive torque of motor itself
, according to the kinetics equation that Rigid Body in Rotation With law obtains on direct current drive arbor be:
（5）
In formula,
be flywheel inertia on motor reel (
);
be load torque (
);
be motor speed (
)
Arrangement obtains:
（6）
In formula,
it is the electromagnetic time constant of motor;
it is the electro mechanic time constant of motor;
Having obtained brushless motor Mathematical Modeling is thus:
（7）；
Above formula is arranged to the DC motor dynamic structure block diagram obtaining Fig. 2
The mechanical property of motor according to front, the electrical speed regulation method of DC motor has three kinds: circuit in series rheostatic speed regulation method; Weaken magnetic flux speed regulation method; Reduce supply voltage speed regulation method.First two speed regulating method is of little use, and this patent uses decompression speed method conventional in Practical Project.The advantage of the method is speed-regulating range width, without the consumption of electric energy.Therefore be widely used in the high electric drive system of speed governing performance requirement.
2. control method described in present embodiment realizes based on three-step approach design.Three-step approach is made up of three parts, is divided into: stable state controls, and controls with reference to dynamic Feedforward, and Error Feedback controls.Below in conjunction with Fig. 3, present embodiment is described:
Numerically, electromagnetic time constant
much smaller than electro mechanic time constant
, therefore can think and electric current loop and der Geschwindigkeitkreis decoupling zero belong to tandem system, use serials control to carry out speeds control to direct current machine.
I,
the design of outer ring controller:
The first step: stable state controls
Outer shroud state equation is:
（8）
Suppose that control objectives reaches stable state, the stable state control inputs of employing is
; According to limit, order
bring (8) into obtain:
（9）
According to Stribeck model, moment of friction
steady-state model is determined by following formula:
（10）
In Stribeck model, moment of friction is relevant with motor speed, and four unknown parameters in Stribeck model by experiment method record;
Then
（11）
Second step: control with reference to dynamic Feedforward
When the dynamic change of system reference value, if control rate is
, (8) formula of bringing into obtains:
（12）
Abbreviation obtains:
（13）
Order
, substitute into above formula and obtain
（14）；
3rd step: Error Feedback controls:
In order to improve the control performance of control system, and to disturbance and probabilistic robustness, above design basis introduces FEEDBACK CONTROL
, realize the adjustment of minimum deflection system, if control rate is
, and definition tracking error is
, then have
（15）
Abbreviation obtains:
（16）
Get liapunov function
（17）
Then have
(18)
Get
substitution above formula obtains
（19）
Then total control law is:
（20）；
iI, inner ring Controller gain variations:
Inner ring state equation is:
（21）
The first step: stable state controls
If control objectives reaches stable state, the stable state control inputs of employing is
.According to limit, order
bring (21) into obtain:
(22)
Second step: control with reference to dynamic Feedforward
Because the time constant of electric current loop is very little, so do not consider the dynamic response of electric current loop.Order
(23)
3rd step: Error Feedback controls
In order to improve the control performance of control system, and to disturbance and probabilistic robustness, FEEDBACK CONTROL is introduced on the basis of this design
, realize the adjustment of minimum deflection system, definition tracking error is
, then have
(24)
Abbreviation obtains:
(25)
Order
(26)
Then have
(27)
Order
Bring formula (27) into:
（28）
Then total control law is
（29）。
Experimental analysis
Experimental analysis
In order to the validity of the correctness and control method of verifying above-mentioned theory, establish with dSPACE be core Speed Regulation System Based on DC Motor and carried out verification experimental verification, the PI controller parameter used in contrast experiment is identical.The parameter of experiment motor is as follows: rated voltage 12V, rated current 12A, peak torque at locked rotor 1.5
, armature resistance 1
, torque current ratio
be 0.125
, electromotive force rotating ratio is 0.016
, rated speed 753
.
Fig. 5 is that under idle condition, given rotating speed sports 30 by 0
time, control algolithm is the rotating-speed tracking curve of traditional double closed-loop control.Fig. 6 is that under idle condition, given rotating speed sports 30 by 0
time, control algolithm is the rotating-speed tracking curve that feedforward that the present invention proposes adds feedback complex control method.Method in Fig. 5 follows the tracks of given rotating speed after 10s, and the method for Fig. 6 has just followed the tracks of rotating speed at about 2s.Comparison diagram 5 and Fig. 6 can find out, the feedforward adopting the present invention to propose adds feedback complex control method and controls have the response speed of brushless motor faster.
Fig. 7 is under idle condition, and given rotating speed is amplitude is 30
, the cycle is
sinusoidal signal, control algolithm is the rotating-speed tracking curve of traditional double closed-loop control.Fig. 8 is under idle condition, and given rotating speed is amplitude is 30
, the cycle is
sinusoidal signal, control algolithm is the rotating-speed tracking curve that feedforward that the present invention proposes adds feedback complex control method.In two figure, rotating speed is expected in red line representative, and blue line represents actual measurement rotating speed.Although the method rotating speed of Fig. 7 can follow the tracks of desired value, about have the phase difference of 0.5 second therebetween, simultaneously there occurs creeping phenomenon in low regime, create about 0.2 second delayed, rotating speed does not have desired signal on tracking in time.The expectation rotating speed of Fig. 8 is close to actual measurement speed curves, and therefore the method rotating speed of Fig. 8 has well followed the tracks of desired signal, obtains good suppression at low regime creeping phenomenon simultaneously.Comparison diagram 7 and Fig. 8 can find out, the feedforward adopting the present invention to propose adds the rotating-speed tracking better effects if that feedback complex control method controls to have brushless motor, obviously can find out have in low regime method of the present invention and better compensate the nonlinear effect of low regime simultaneously.
Fig. 9 is under idle condition, and given rotating speed is 4
time, control algolithm is the rotating-speed tracking curve of traditional double closed-loop control.Figure 10 is under idle condition, and given rotating speed is 4
time, control algolithm is the rotating-speed tracking curve that feedforward that the present invention proposes adds feedback complex control method.In Fig. 9, the peak error of the fluctuation of speed reaches expects about 15% of rotating speed, and variance is 0.0378 as calculated.And in Figure 10, the peak error of the fluctuation of speed reach expect rotating speed 10% within, variance is 0.0286 as calculated.Comparison diagram 9 and Figure 10 can find out, the feedforward adopting the present invention to propose adds feedback complex control method and controls have brushless motor to have better fluctuation of speed inhibition in low regime.
As can be seen from above experimental result, brush direct current motor is when speed tracing, and feedforward proposed by the invention adds feedback complex and controls all due to traditional double-closed-loop control, and control system has good static and dynamic performance.
Claims (1)
1. three-step approach design has a brushless motor composite control method, it is characterized in that: the steps include:
1. the Mathematical Modeling of DC electromotor with brush is set up
Set up the voltage balance equation of DC motor:
In formula, E is the induced electromotive force (V) of direct current machine;
it is the magnetic flux (Wb) of the every magnetic pole of motor;
it is the back EMF constant that DC motor structure determines;
be the electromotive force rotating ratio of motor under rated flux (
), and
;
be motor speed, unit is
（2）
In formula,
be motor electromagnetic torque (
);
it is the armature supply (A) of motor;
it is the torque constant that DC motor structure determines;
be the torque current ratio of motor under rated flux (
), and
;
The differential equation of armature circuit:
（3）
Namely
(4)
Kinetics equation on direct current drive arbor is:
（5）
In formula,
be flywheel inertia on motor reel (
);
be load torque (
);
be motor speed (
)
Arrangement obtains:
（6）
In formula,
it is the electromagnetic time constant of motor;
it is the electro mechanic time constant of motor;
Having obtained brushless motor Mathematical Modeling is thus:
（7）；
2. the feedforward designed based on three-step approach adds the DC motor speed-regulating complex controll of feedback: three-step approach is divided into: stable state controls, with reference to dynamic Feedforward control, Error Feedback control:
I,
the design of outer ring controller:
The first step: stable state controls
Outer shroud state equation is:
（8）
Stable state control inputs is
; According to limit, order
bring (8) into obtain:
（9）
Moment of friction
steady-state model is determined by following formula:
（10）
Four unknown parameters in Stribeck model by experiment method record;
Then
（11）
Second step: control with reference to dynamic Feedforward
If control rate is
, (8) formula of bringing into obtains:
（12）
Abbreviation obtains:
（13）
Order
, substitute into above formula and obtain
（14）；
3rd step: Error Feedback controls:
If control rate is
, and definition tracking error is
, then have
（15）
Abbreviation obtains:
（16）
Get liapunov function
（17）
Then have
(18)
Get
substitution above formula obtains
（19）
Then total control law is:
（20）；
iI, inner ring Controller gain variations:
Inner ring state equation is:
（21）
The first step: stable state controls
According to limit, order
bring (21) into obtain:
(22)
Second step: control with reference to dynamic Feedforward
Order
(23)
3rd step: Error Feedback controls
Definition tracking error is
, then have
(24)
Abbreviation obtains:
(25)
Order
(26)
Then have
(27)
Order
Bring formula (27) into:
（28）
Then total control law is
（29）。
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| CN107783040A (en) * | 2017-10-23 | 2018-03-09 | 北京经纬恒润科技有限公司 | A kind of modeling method of brush direct current motor electromagnetic interference, apparatus and system |
| CN107807525A (en) * | 2017-10-26 | 2018-03-16 | 东北大学 | The adaptive total state about beam control method of direct current motor system with dead band |
| CN108448978A (en) * | 2018-03-26 | 2018-08-24 | 吉林大学 | A kind of brushed DC motor reinforcement learning adaptive control method |
| CN108919862A (en) * | 2018-07-12 | 2018-11-30 | 中国船舶重工集团公司第七二四研究所 | A kind of automatic temperature/humidity control method of airtight cabinet based on temperature feedback |
| CN109339933A (en) * | 2018-10-31 | 2019-02-15 | 吉林大学 | Non-minimum phase engine-cooling system temperature control method of water |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107783040A (en) * | 2017-10-23 | 2018-03-09 | 北京经纬恒润科技有限公司 | A kind of modeling method of brush direct current motor electromagnetic interference, apparatus and system |
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| CN108448978B (en) * | 2018-03-26 | 2021-04-30 | 吉林大学 | Brush direct current motor reinforcement learning self-adaptive control method |
| CN108919862A (en) * | 2018-07-12 | 2018-11-30 | 中国船舶重工集团公司第七二四研究所 | A kind of automatic temperature/humidity control method of airtight cabinet based on temperature feedback |
| CN109339933A (en) * | 2018-10-31 | 2019-02-15 | 吉林大学 | Non-minimum phase engine-cooling system temperature control method of water |
| CN110162045A (en) * | 2019-05-21 | 2019-08-23 | 吉林大学 | A kind of truck fleet traveling Following Car control method based on adaptive three-step approach |
| CN110162045B (en) * | 2019-05-21 | 2021-06-25 | 吉林大学 | Truck formation driving following control method based on self-adaptive three-step method |
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