CN105262405A - Closed loop disturbance observation compensation method for electric current loop of servo motor - Google Patents

Closed loop disturbance observation compensation method for electric current loop of servo motor Download PDF

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CN105262405A
CN105262405A CN201510750127.XA CN201510750127A CN105262405A CN 105262405 A CN105262405 A CN 105262405A CN 201510750127 A CN201510750127 A CN 201510750127A CN 105262405 A CN105262405 A CN 105262405A
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servomotor
control
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CN105262405B (en
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张洪彪
田冰玲
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Changchun Tongshi Optoelectronic Technology Co ltd
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CHANGCHUN TONGSHI PHOTOELECTRIC TECHNOLOGY Co Ltd
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Abstract

The invention relates to a closed loop disturbance observation compensation method for an electric current loop of a servo motor. The method introduces a disturbance observation device at the outside of a current closed loop control loop with lower bandwidth and can estimate the current output interference caused by perturbation of servo motor parameters, unstable supply voltage and noise of a current sensor, and can compensate through a disturbance compensator. Compared with a normal bandwidth current closed loop control method, the closed loop disturbance observation compensation method can realize real-time control of a servo motor by using a current loop with lower bandwidth, through real-time estimation and compensation of the disturbance of the parameter perturbation of the servo motor, and not only can guarantee the response speed of the servo motor, but also has the advantages of being high in stable margin, greatly reducing the sensitivity of the current loop to the electric noise, being high in control accuracy, being easy to implement, and being very suitable for control and application of a high precision servo motor.

Description

For the closed loop disturbance observation compensation method of servomotor electric current loop
Technical field
The invention belongs to motor control technology field, more specifically, relate to a kind of closed loop disturbance observation compensation method for servomotor electric current loop.
Background technology
Servomotor is widely used in the exigent field of industrial automatic control of control precision, and as Digit Control Machine Tool, robot, gyrocontrol photoelectronic imaging equipment etc., its control system is generally made up of position ring, speed ring and electric current loop.Wherein electric current loop with motor output current for feedback signal builds closed-loop current control loop, motor output current is made to follow the tracks of the expectation electric current of setting, avoid the impact of counter electromotive force of motor on motor output current, improve the response speed of motor, reduce the disturbing factors such as parameter of electric machine perturbation, external loading change to the impact of Serve Motor Control performance.
Estimated current ring general adoption rate integration (PI) controller, closed-loop control bandwidth design, at more than 1000Hz, ensures to have stronger rejection ability to interference such as parameter of electric machine perturbation, external loading changes by high bandwidth design.
But according to automatically controlling general principle, high bandwidth design must cause the decline of closed-loop system stability margin, reduces the control performance robustness in the situations such as parameter of electric machine perturbation is larger; In addition, electric current loop bandwidth is higher, and the impact that current of electric exports by transducer and circuit noise is larger, and electric current exports and expects that the deviation between electric current is also larger, thus reduces the control precision of servomotor.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of closed loop disturbance observation compensation method for servomotor electric current loop, the method is while ensure that electric current loop is to interference rejection capability, the sensitiveness to noise can be reduced, improve the control precision of servomotor.
In order to solve the problems of the technologies described above, the closed loop disturbance observation compensation method for servomotor electric current loop of the present invention comprises the steps:
One, the servomotor current digital signal i that in Real-time Collection closed-loop current control loop, feedback loop AD conversion module exports ss: and sent into closed loop inversion model, calculate according to closed loop inversion model formula (1) equivalence comprising disturbing influence and expect current i ss-1;
i ss-1＝i ss×G c_inv(s)＝i ss×1/G c(s)(1)
Wherein G c_invs () is closed loop inversion model frequency domain transfer function, G cs () is the frequency domain transfer function of closed-loop current control loop;
Two, current i is expected in equivalence step one obtained ss-1with revised expectation current i csubtract each other the equivalent current obtaining disturbance and estimate i rg, and sent into compensator; The correction value i expecting electric current is exported by compensator rx;
i rx＝i rg×Q(s)(2)
Wherein compensator is low-pass first order filter, and Q (s) is its frequency domain transfer function;
Q ( s ) = 1 ( 1 / 2 πf Q ) s + 1 - - - ( 3 )
F in formula (3) qfor compensator bandwidth, s is Laplacian;
The correction value i of the expectation electric current three, utilizing step 2 to obtain rxto expectation current i rcarry out correction and obtain revised expectation current i c;
i c＝i r－i rx(4)
Four, revised expectation current i step 3 obtained cas the input of closed-loop current control loop, real-time closed-loop control is carried out to servomotor;
Wherein expect current i rwith revised expectation current i cinitial value be 0.
Described closed-loop current control loop bandwidth f bbe 200 ~ 250Hz, compensator bandwidth is f q, f q=0.1f b.
In described closed-loop current control loop, the frequency domain transfer function of servomotor is G (s), motor drive module gain is K m, K m=4.5; Digitial controller adopts PI to control, and its frequency domain transfer function is C (s),
Described compensator adopts the low-pass first order filter of 20Hz bandwidth.
First the present invention adopts a low bandwidth closed-loop current control loop to carry out SERVO CONTROL to servomotor, and its bandwidth is not higher than 250Hz; Then outside this loop, disturbance observation and compensator is introduced, real-time monitored and compensation are carried out to the interference caused by reasons such as parameter of electric machine perturbation, supply power voltage shakinesses, obtain the correction value expecting electric current, and utilize this correction value to revise in real time expectation electric current.
In closed-loop current control loop, the frequency domain transfer function of servomotor and digitial controller is respectively what C (s) of G (s), and motor-driven mechanism gain is K m; Then the frequency domain transfer function of closed-loop current control loop is G c(s);
G c ( s ) = K m × C ( s ) × G ( s ) 1 + K m × C ( s ) × G ( s ) - - - ( 5 )
Because the band limits of disturbance observation and compensation is much smaller than electric current loop closed-loop bandwidth, therefore closed loop inversion model can be approximately 1, i.e. G c_inv(s) ≈ 1.
The current of electric can derived after adopting closed loop disturbance observation to compensate exports expression formula:
i m = K m × C ( s ) × G ( s ) ( 1 - Q ( s ) ) + K m × C ( s ) × G ( s ) i r + ( 1 - Q ( s ) ) × K m × C ( s ) × G ( s ) ( 1 - Q ( s ) ) + K m × C ( s ) × G ( s ) n d - - - ( 6 )
The parameter of electric machine perturb cause model change be designated as △ G (s), supply power voltage change can represent with the perturbation of motor driving model, be designated as △ K m; From above formula, if Q (s)=1, then current of electric exports i m≡ i r, not by model perturbation △ G (s), supply power voltage change △ K mwith electrical noise n dimpact.
For ensureing the approximate reliability not affecting algorithm in algorithmic derivation process, Q (s) is designed to low-pass first order filter, wherein f qfor compensator bandwidth.
Q ( s ) = 1 ( 1 / 2 πf Q ) s + 1 - - - ( 3 )
The invention has the beneficial effects as follows:
1. pass through the real-time estimation to disturbances such as servo motor parameter perturbations and compensation, achieve the current loop controller with a lower bandwidth, meet the rapidity of motor response and the requirement to Disturbance Rejection ability simultaneously, avoid the problem that the stability margin of high bandwidth electric current loop existence is low.While ensure that servomotor response speed, there is higher stability margin.
2. significantly reduce the sensitiveness of electric current loop to electrical noise, the impact that servomotor electric current exports by electrical noise is less, avoids the phenomenon of the Electric Machine Control precise decreasing that high bandwidth electric current loop causes due to spurious signals such as response electrical noises.
3. utilize closed-loop model precision to be better than the principle of control object (being servomotor) open loop models here, use the inversion model in current closed-loop loop to carry out disturbance estimation, estimated accuracy is high, and compensation effect is good.
4. the inversion model in current closed-loop loop can be approximated to be unit gain 1, makes the realization of algorithm simpler.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is the closed loop disturbance observation compensation method block diagram for servomotor electric current loop of the present invention.
Fig. 2 is the servomotor current step curve chart using the present invention to control.
Fig. 3 is the servomotor current step curve chart using 1000Hz high bandwidth current loop control.
Fig. 4 is under there is electrical noise interference, uses the servomotor current step curve chart that the present invention controls.
Fig. 5 is under there is electrical noise interference, uses the servomotor current step curve chart of 1000Hz high bandwidth current loop control.
Embodiment
As shown in Figure 1, the closed-loop current control loop of prior art comprises digitial controller, D/A conversion module, motor drive module, current sensor and AD conversion module.Digitial controller is dsp chip TMS320F28335, D/A conversion module adopts the DAC8822 of 16 bit resolutions, motor drive module adopts SA60, servomotor uses maxon to have brushless motor RE60, current sensor uses Hall current sensor ACS714, and AD conversion module adopts the max1301 of 16 bit resolutions.The present invention introduces closed loop inversion model and compensator as disturbance observer outside closed-loop current control loop, the electric current that real-time estimation is caused by the factor such as servo motor parameter perturbation, supply power voltage shakiness, current sensor noise exports interference, and is compensated by compensator.Closed loop inversion model and compensator all realize with program code in as the dsp chip of digitial controller.
The bright concrete technical scheme of we, because servomotor and motor drive module parameter are fixing, therefore first designs digitial controller, and make closed-loop current control loop form a low bandwidth current closed-loop loop, bandwidth is not higher than 250Hz; Outside this loop, introduce disturbance observation, compensator, the interference caused by reasons such as parameter of electric machine perturbation, supply power voltage shakinesses is observed and compensated.
The present invention is design current closed control loop first, then outside loop, introduce the closed loop inversion model and compensator that are used for disturbance observation.Implementation step is as follows:
One, first current i will be expected r, revised expectation current i c, current deviation signal i ebe initialized as 0;
Two, the current signal i of current sensor Real-time Collection servomotor is utilized m: will containing electrical noise n dmotor current signal i msend into AD conversion module and be converted to digital quantity, obtain servomotor current digital signal i ss,this current digital signal i ssbe admitted to the closed loop inversion model in DSP; Wherein i m=i m+ n d.
In dsp, calculate according to closed loop inversion model formula (1) equivalence comprising disturbing influence and expect current i ss-1;
i ss-1＝i ss×G c_inv(s)＝i ss×1/G c(s)(1)
Wherein G c_invs () is closed loop inversion model frequency domain transfer function, G cs () is the frequency domain transfer function of closed-loop current control loop;
Current i is expected in equivalence ss-1with revised expectation current i csubtract each other the equivalent current obtaining disturbance and estimate i rg, and sent into compensator; The correction value i expecting electric current is exported by compensator rx;
i rx＝i rg×Q(s)(2)
Wherein compensator is low-pass first order filter, and Q (s) is its frequency domain transfer function;
Q ( s ) = 1 ( 1 / 2 πf Q ) s + 1 - - - ( 3 )
F in formula (3) qfor compensator bandwidth, s is Laplacian;
Three, the correction value i expecting electric current is utilized rxto expectation current i rcarry out correction and obtain revised expectation current i c;
i c＝i r－i rx(4)
Four, by revised expectation current i cwith the servomotor current digital signal i comprising noise jamming sssubtract each other, obtain current deviation signal i e;
Five, the digitial controller discretization will designed in DSP program, by current deviation signal i einput digitial controller, carries out computing by digitial controller and obtains Serve Motor Control amount u; The analog control signal that Serve Motor Control amount u obtains after D/A conversion module is changed, this analog control signal is input to motor drive module and carries out power amplification, drives servomotor work, realizes closed-loop current control.
The frequency domain transfer function of described servomotor RE60 is G (s),
Described motor drive module model is approximately fixed gain, is designated as K m, K mbe approximately proportionality coefficient 4.5.
Described digitial controller adopts PI to control, and its frequency domain transfer function is C (s), the frequency domain transfer function of closed-loop current control loop is G c(s), its-three dB bandwidth is 240Hz, phase stability margin is 60.1 °.
G c ( s ) = 0.326 s + 1418 0.0009 s 3 + 1.326 s + 1418
Closed loop inversion model G c_inv(s)=1/G cs (), because its characteristic in 0 ~ 50Hz frequency range is similar to unit gain, therefore closed loop inversion model can be approximated to be 1.
Compensator adopts the design of 20Hz bandwidth low-pass first order filter, and its frequency domain transfer function is Q (s),
Q ( s ) = 1 0.008 s + 1
Fig. 2 and Fig. 3 sets forth the present invention is based on low bandwidth electric current loop closed loop disturbance observation, compensation method and 1000Hz high bandwidth electric current loop servomotor current step response curve compare, result display uses the curve rise time of the present invention to be less than 0.0015s, close with the stepped curve rise time of high bandwidth electric current loop, but overshoot is about 10%, much smaller than the latter's 40%, this illustrates that the present invention is while ensure that servomotor response speed, has higher stability margin.
Under Fig. 4 and Fig. 5 gives and there is electrical noise interference, use the servomotor current step curve of the present invention and 1000Hz high bandwidth electric current loop, wherein the electrical noise random sequence being distributed in [-0.2,0.2] scope is simulated.Result shows, and the servomotor output current using the present invention to control is less by electrical noise interference, and the noise peak peak value on it only about has 0.03; And high bandwidth electric current loop does not have rejection ability substantially to electrical noise interference, the impact that servomotor output current is subject to is comparatively large, and the noise peak peak value on it is not less than 0.37.Illustrate that the present invention effectively reduces the impact of servomotor output current by electrical noise interference.

Claims (4)

1., for a closed loop disturbance observation compensation method for servomotor electric current loop, it is characterized in that comprising the steps:
One, the servomotor current digital signal i that in Real-time Collection closed-loop current control loop, feedback loop AD conversion module exports ss: and sent into closed loop inversion model, calculate according to closed loop inversion model formula (1) equivalence comprising disturbing influence and expect current i ss-1;
i ss-1＝i ss×G c_inv(s)＝i ss×1/G c(s)(1)
Wherein G c_invs () is closed loop inversion model frequency domain transfer function, G cs () is the frequency domain transfer function of closed-loop current control loop;
Two, current i is expected in equivalence step one obtained ss-1with revised expectation current i csubtract each other the equivalent current obtaining disturbance and estimate i rg, and sent into compensator; The correction value i expecting electric current is exported by compensator rx;
i rx＝i rg×Q(s)(2)
Wherein compensator is low-pass first order filter, and Q (s) is its frequency domain transfer function;
Q ( s ) = 1 ( 1 / 2 πf Q ) s + 1 - - - ( 3 )
F in formula (3) qfor compensator bandwidth, s is Laplacian;
The correction value i of the expectation electric current three, utilizing step 2 to obtain rxto expectation current i rcarry out correction and obtain revised expectation current i c;
i c＝i r－i rx(4)
Four, revised expectation current i step 3 obtained cas the input of closed-loop current control loop, real-time closed-loop control is carried out to servomotor;
Wherein expect current i rwith revised expectation current i cinitial value be 0.
2. the closed loop disturbance observation compensation method for servomotor electric current loop according to claim 1, is characterized in that described closed-loop current control loop bandwidth f bbe 200 ~ 250Hz, compensator bandwidth is f q, f q=0.1f b.
3. the closed loop disturbance observation compensation method for servomotor electric current loop according to claim 2, is characterized in that the frequency domain transfer function of servomotor in described closed-loop current control loop is G (s), motor drive module gain is K m, K m=4.5; Digitial controller adopts PI to control, and its frequency domain transfer function is C (s),
4. the closed loop disturbance observation compensation method for servomotor electric current loop according to claim 2, is characterized in that described compensator adopts the low-pass first order filter of 20Hz bandwidth.
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CN109309464A (en) * 2017-07-27 2019-02-05 深圳市正弦电气股份有限公司 A kind of servo response bandwidth test method and system
CN111711401A (en) * 2020-06-24 2020-09-25 中国科学院光电技术研究所 Sensorless current correction method in motor control system

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CN109309464A (en) * 2017-07-27 2019-02-05 深圳市正弦电气股份有限公司 A kind of servo response bandwidth test method and system
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CN111711401A (en) * 2020-06-24 2020-09-25 中国科学院光电技术研究所 Sensorless current correction method in motor control system
CN111711401B (en) * 2020-06-24 2023-07-18 中国科学院光电技术研究所 Current correction method without sensor in motor control system

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