CN105610365A - Control method of permanent-magnet servo motor - Google Patents

Control method of permanent-magnet servo motor Download PDF

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Publication number
CN105610365A
CN105610365A CN201610119052.XA CN201610119052A CN105610365A CN 105610365 A CN105610365 A CN 105610365A CN 201610119052 A CN201610119052 A CN 201610119052A CN 105610365 A CN105610365 A CN 105610365A
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CN
China
Prior art keywords
control
speed error
fuzzy
pid
value
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Pending
Application number
CN201610119052.XA
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Chinese (zh)
Inventor
马立新
范洪成
黄阳龙
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Priority to CN201610119052.XA priority Critical patent/CN105610365A/en
Publication of CN105610365A publication Critical patent/CN105610365A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Abstract

The invention relates to a control method of a permanent-magnet servo motor. According to the control method, a rotation speed error signal is detected, one path of the rotation speed error signal is directly fed into a composite intelligent controller, the other path of the rotation speed error signal is subjected to differentiation to obtain a rotation speed error change rate, and the rotation speed error change rate is fed into the composite intelligent controller; a rotational speed error and the rotational speed error change rate are fed into a fuzzy control module for fuzzy calculation to obtain changes of three proportional integral differential (PID) parameters; the value of a weight distribution coefficient alpha is calculated; a control signal is output by using the fuzzy control module when the value of alpha is larger than 0.6; and the control signal is output by using a traditional PID control module when the value of alpha is smaller than 0.6, and the output control signal acts on an inverter of a permanent-magnet synchronous motor. By the control method, dynamic advantage complementary of two fuzzy and PID speed regulation control modes is achieved, and an ideal effect of high-performance speed regulation is achieved. With the method disclosed by the invention, the motor can high-accurately run, and is high in interference resistance and low in rotational speed overshoot, the energy consumption is obviously reduced compared with the traditional PID control, the effect of low energy consumption is met, and the motor is in a high-accuracy and low-energy-consumption running status.

Description

A kind of permanent-magnet servo motor control method
Technical field
The present invention relates to a kind of motor control method, particularly a kind of permanent-magnet servo motor control method.
Background technology
In recent years, in fields such as Digit Control Machine Tool, mining machinery, aviation and navigations, the stability of electrical equipment moreCome more important. Motor is the important component part of power system, and the core of electrical system especially, so motorHigh accuracy operation and low energy consumption problem also received the concern of state key.
The traditional PID control method of motor cannot automatic adjusting parameter, poor anti jamming capability, control accuracy are low,Power consumption is high; Along with the development of electronic technology, increasing Based Intelligent Control constantly proposes, as: nerve netNetwork algorithm, ant group algorithm etc., but these intelligent control algorithm amounts of calculation are large, are difficult to apply in practice,And FUZZY ALGORITHMS FOR CONTROL is simple, easily to realize, it adopts the threshold value switching mode of segmentation, though its energy-saving effectSo obviously, because be difficult to determine its switching time, can cause governing system unstable.
Control accuracy and the low energy consumption problem of therefore, how to remove to improve motor are asking of being generally concerned about in recent yearsTopic, the present invention is exactly from these two angles, proposes a kind of composite intelligent control method, realizes motorThe effect of high accuracy control and low energy consumption.
Summary of the invention
The present invention be directed to fuzzy control and apply to the problem existing in PID control, proposed a kind of permanent magnetism and watchedTake motor control method, utilize MATLAB/SIMULINK software, set up permanent-magnet servo motor model and passed throughBuild simulation model, in whole speed regulation process, the realization of composite intelligent control is with the effect of main control modeRun through control all the time, the effect of auxiliary control mode dynamically adds. In fraction control expression formula, fraction factor alphaBe the function of angular speed Error Absolute Value and given rotating speed, realize and automatically regulating by error size and given rotating speedTo controlling the weight of effect, have intelligent. Adjust α value and adjusted optimizing control law, be easy to realizeParameter adjustment and in real time control, have rationality in application. Composite intelligent control strategy is applied to electric machine speed regulationVector controlled, realize composite intelligent vector controlled.
Technical scheme of the present invention is: a kind of permanent-magnet servo motor control method, three-phase voltage source, through LCAfter filtering, be sent in the threephase stator winding of permagnetic synchronous motor, then detect speed error signal,Speed error signal is exported a road and is directly entered composite intelligent controller, and an other road is turned after differentialAfter speed error rate, enter composite intelligent controller, composite intelligent controller comprises fuzzy control model, PIDControl module and fraction control module, speed error and speed error rate of change send fuzzy control model to carry out mouldStick with paste and calculate, draw tri-parameter variable quantities of PID, then calculate the value of fraction factor alpha, when α value is greater than 0.6Time, adopt fuzzy control model output control signal, in the time that being less than 0.6, α value adopts traditional PID control mouldPiece output control signal, output control signal acts on the inverter of permagnetic synchronous motor.
Described fraction factor alpha is the function of angular speed Error Absolute Value and given rotating speed, realizes by error sizeAutomatically regulate the weight to controlling effect with given rotating speed.
Beneficial effect of the present invention is: permanent-magnet servo motor control method of the present invention, realizes fuzzy and PIDThe advantage dynamic complementation of two kinds of speed-regulating controling modes, reaches desirable high-performance speed governing effect. The inventive methodCan make the operation of motor high accuracy, antijamming capability is strong, and speed overshoot amount is little, and energy consumption and traditional PI DControl is compared, and obviously reduces, and meets the effect of low energy consumption, makes motor in high accuracy, low energy consumption operation shapeState.
Brief description of the drawings
Fig. 1 is improved Fuzzy PID control framework figure of the present invention;
Fig. 2 is loop circle flux oscillogram of the present invention;
Fig. 3 is energy consumption calculation frame diagram of the present invention;
Fig. 4 is the present invention's intelligence vector controlled block diagram;
Fig. 5 is permanent-magnet servo motor Based Intelligent Control frame diagram of the present invention;
Fig. 6 is composite intelligent control flow chart of the present invention;
Fig. 7 is Electric Machine Control precision of the present invention, energy-saving effect figure.
Detailed description of the invention
Because it is simple in structure in fuzzy control, in life, easily realize, but traditional fuzzy control exists and lacksFall into, therefore designed a kind of fuzzy with integral element, improved Fuzzy PID controls as shown in Figure 1Frame diagram, input e is speed error signal, a road directly enters fuzzy control logic, an other road processAfter differential, obtain entering fuzzy control logic after speed error rate of change, by fuzzy logic ordination, judgement turnsSpeed error is in which kind of state, then exports the variable quantity of tri-parameters of PID, removes the original pid parameter of demodulation,This follow-on fuzzy is in motor operation course, and the magnetic linkage of generation approaches loop circle flux more, asThe oscillogram of loop circle flux shown in Fig. 2, (abscissa is d-axis direction magnetic linkage scope, and ordinate is quadrature axis direction magneticChain scope), improve to a great extent the control accuracy of motor, rotating speed response is fast, and stable state and dynamic property areGood, reach expection and controlled effect.
For realizing the energy-saving run of motor, to energy consumption of electrical machinery part, adopt step-down energy-saving principle, but according to electricityThe energy consumption relation of machine is known, and step-down might not reach energy-conservation object, only have when lower voltage degree largeIn the time of revolutional slip and power factor rising degree, just can make operational efficiency improve. Therefore, at energy consumption calculation frameworkOn the switch that brings Selection In, judge that lower voltage degree is carried out step-down energy-conservation. Energy consumption calculation frame as shown in Figure 3Frame figure. The energy consumption of permanent-magnet servo motor depends on three-phase phase voltage and the phase current of inputting motor. Useful workEnergy consumption is: Wac＝∫piacDt. Wherein, three-phase instantaneous active power piacEach phase voltage and corresponding electricity mutuallyThe sum of products of stream, i.e. piac＝uaia+ubib+ucic. In Fig. 3, be input as the electric current and voltage of collectionSignal, through the instantaneous meritorious idle module of three-phase, calculates meritorious and idle size, selects by switchDevice, can calculate respectively meritorious and reactive power consumption amount, and the calculating object of reactive power consumption size is to carry out nothing to itMerit compensation, active power can draw energy consumption size by integral element.
Composite intelligent control is on the basis of PID controller, and design increases fuzzy controller FLC and fractionController FQC, as shown in Figure 4 intelligent vector controlled block diagram. Fuzzy Fuzzy controls, PID controls in conjunction with dividingPower is controlled and is formed intelligent controller CSOC, realizes control and regulation. The input signal of CSOC: error and error becomeThe quantizing factor of rate in CSOC is separately converted to the blurred signal within the scope of fuzzy domain, comments by ruleValency and fuzzy judgment obtain increment output, and after quantizing factor, integration obtains the output U of fuzzy controller again,This output valve is as the torque component reference value of stator currentIn synchronous angular velocity link, stator frequencySynchronous angular velocity ω1ByRealize stator rotating excitation field angular velocity omegas, rotor fluxψr, magnetizing inductance Lm，ωrRotor velocity, TrRotor time constant, sin_cos representation unit vectorCartesian component cos (ω1And sin (ω t)1T). Synchronizing current controlling unit, by corresponding current component ism(fixedThe excitation component of electron current) and ist(torque component of stator current) is transformed to the excitation component u of stator voltagesmWith torque component ust，usmAnd ustAfter three-phase current conversion, pass through SPWM generator through biphase current,Arrive the control signal of the output voltage of inverter.
Fig. 5 is permanent-magnet servo motor Based Intelligent Control framework, by composite intelligent vector control algorithm, three-phase electricityPotential source, after LC filtering, is sent in the threephase stator winding of permagnetic synchronous motor, then detectsAfter speed error, deliver in Fig. 1 Fuzzy Calculation link, draw tri-parameter variable quantities of PID, then calculateThe value of fraction factor alpha, fraction factor alpha is the function of angular speed Error Absolute Value and given rotating speed, when α valueBe greater than at 0.6 o'clock, adopt fuzzy control, in the time that α value is less than 0.6, adopt traditional PID control, realize and improvingFuzzy control and traditional PID control and switch, make motor reach high accuracy operation, by electricityCurrent voltage gathers link, gathers out three-phase voltage current, calculates the size of active power, finally by long-pendingPoint link show that the energy of whole system work consumes size, by the size of energy consumption, and known this control methodSuperiority. In the time that α value equals 0.6, both control all and can use.
Composite intelligent control flow chart as shown in Figure 6, adopts composite intelligent vector control algorithm, and in figure, λ isScale factor constant, α0For a point weight factor initial value, in control system, be satisfied 0.5≤α0≤ 1 normal value,Conventional PID controller cannot be realized parameter automatic adjusting, poor anti jamming capability, and power consumption is large. Fuzzy is multipleCombination control method, the threshold value switching mode of employing segmentation, although its energy-saving effect is obvious, because of its switching timeBe difficult to determine, can cause governing system unstable. For the kinetic control system of motor, only by a kind ofMode is controlled, and does not reach desirable control effect, proposes a kind of composite intelligent control program for this reason, realThe advantage dynamic complementation that shows fuzzy and two kinds of speed-regulating controling modes of PID, reaches desirable high-performance speed governing effect.Composite intelligent control, based on fraction control, realizes fuzzy and two kinds of control modes of PID effect hand in hand, fullyBring into play advantage separately, make governing system embody energy-conservation and robustness. Composite intelligent control taking fuzzy control asMain controller, PID controls as auxiliary control device, realize by error size by the fraction factor-alpha in fraction controller andGiven rotating speed regulates the weight to controlling effect automatically, has intelligent.
Fig. 7 is the output waveform figure obtaining by actual motion. A kind of permanent-magnet servo motor joint according to the present inventionEnergy type control method, builds simulation model (as Fig. 5) by MATLAB software, can be clear that thisBright method can make the operation of motor high accuracy, and antijamming capability is strong, and speed overshoot amount is little, and energy consumption and biographySystem PID controls and compares, and obviously reduces, and meets the effect of low energy consumption, makes motor in high accuracy, low energy consumptionRunning status.

Claims (2)

1. a permanent-magnet servo motor control method, it is characterized in that, three-phase voltage source, after LC filtering, be sent in the threephase stator winding of permagnetic synchronous motor, then detect speed error signal, speed error signal is exported a road and is directly entered composite intelligent controller, an other road obtains entering composite intelligent controller after speed error rate of change after differential, composite intelligent controller comprises fuzzy control model, pid control module and fraction control module, speed error and speed error rate of change send fuzzy control model to carry out Fuzzy Calculation, draw tri-parameter variable quantities of PID, calculate again the value of fraction factor alpha, in the time that α value is greater than 0.6, adopt fuzzy control model output control signal, in the time that being less than 0.6, α value adopts traditional PID control module output control signal, output control signal acts on the inverter of permagnetic synchronous motor.
2. permanent-magnet servo motor control method according to claim 1, is characterized in that, described fraction factor alpha is the function of angular speed Error Absolute Value and given rotating speed, realizes by error size and given rotating speed and automatically regulates the weight to controlling effect.
CN201610119052.XA 2016-03-02 2016-03-02 Control method of permanent-magnet servo motor Pending CN105610365A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109639207A (en) * 2018-12-29 2019-04-16 宝鸡文理学院 Synchronous motor energy-saving fuzzy controller method
CN114067646A (en) * 2021-10-16 2022-02-18 复旦大学 Visual simulation teaching system of puncture surgical robot

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CN104734588A (en) * 2015-03-09 2015-06-24 山东大学 Biomass gas internal combustion generator set rotation speed control method

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109639207A (en) * 2018-12-29 2019-04-16 宝鸡文理学院 Synchronous motor energy-saving fuzzy controller method
CN114067646A (en) * 2021-10-16 2022-02-18 复旦大学 Visual simulation teaching system of puncture surgical robot

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