CN105739301A - Control method of parameter self-tuning motor controller - Google Patents

Abstract

The present invention relates to a control method of a parameter self-tuning motor controller, and is a motor control system method of realizing the high-performance control of three closed loops (a current loop, a speed loop and a position loop). The control method of the parameter self-tuning motor controller of the present invention is based on the DSP design, has the strong digital operation and motor control capability, and can be widely used in the industry fields, such as the intelligent wheelchair control, the unmanned mower, the industrial automation, the National defence aviation, etc. Meanwhile, a DSP-based mobile motion controller parameter tuning method is developed, so that a motion controller speed and position controller PID parameter self-tuning practical technology is realized.

Description

A kind of parameter can the control method of electric machine controller of Self-tuning System

Technical field

The present invention relates to a kind of parameter can the control method of electric machine controller of Self-tuning System, be the one electric machine control system method that realizes three closed loops (electric current loop, speed ring, position ring) high performance control.

Background technology

At present, the parameter tuning work of most types of controller is main by completing manually, carrys out repeatedly regulable control device parameter by observing the rule of the running status of system under different parameters, wastes time and energy, poor effect, and the work of parameter tuning is higher to the requirement of operator.Just system is come into operation if the result of parameter tuning is undesirable, it will the largely performance of influential system, even cause system unstable；

The method of current Self-tuning System has several: such as solves nonlinear restriction equation and obtains the PID controller control parameter of optimum, but the method setting algorithm efficiency comparison is low, is difficult to be directly used in engineering field；Or adopt a kind of self adaptation compound control structure to ignore controls the adjusting of parameter to PID controller, but the operand of this avoidance mode is relatively big, therefore cannot ensure stability that servosystem runs etc..

Summary of the invention

In order to overcome traditional limitation brought by operator's manual adjustments pid control parameter, the object of the invention provides a kind of parameter can the control method of electric machine controller of Self-tuning System；

This control method designs based on DSP, possess powerful digital operation and motor control ability, develop the moving movement attitude conirol method based on DSP simultaneously, achieve the practical technology of motion controller speed, positioner pid parameter Self-tuning System, can be widely applied to the industry-by-industry fields such as intelligent wheel chair control, unmanned hay mover, industrial automation, national defence aviation.

To achieve these goals, the present invention adopts the following technical scheme that

A kind of parameter can the control method of electric machine controller of Self-tuning System, realize two channel DC are had brush or the electric current of DC brushless motor, speed and position three Close loop servo control, employing motor model is analyzed, pick out the value of rotary inertia, relational expression in conjunction with PID controller parameter Yu rotary inertia directly calculates suitable control parameter, it is achieved the Self-tuning System of controller parameter:

(1) calculating of der Geschwindigkeitkreis parameter:

Der Geschwindigkeitkreis, under the premise of system stability, improves the response speed of der Geschwindigkeitkreis；The stability of system and response speed are measured by Phase margin and closed-loop bandwidth respectively；

A. closed-loop bandwidth

The frequency that system closed loop amplitude-frequency characteristic-3dB point is corresponding, for closed-loop bandwidth value ω_b；

Bandwidth and open-loop cut-off frequency ω_c: the frequency values that open loop amplitude-frequency characteristic zero crossing is corresponding, there is concordance, in controller design process, use open-loop cut-off frequency to replace closed-loop bandwidth to characterize the response speed of system；

B. Phase margin

Definition ω_cFor the cut-off frequency of system, amplitude-frequency characteristic is A (w), then

A(ω_c)=| G (j ω_c)H(jω_c)|；

Definition Phase margin is γ=180 °+∠ G (j ω_c)H(jω_c), embodiment is meant that, for closed loop system, if system open loop phase-frequency characteristic delayed γ degree again, then system will be in critical stable state；

Relative to electric current loop and Rotating speed measring link, the response speed of der Geschwindigkeitkreis is relatively slow, therefore the closed loop transfer function of electric current loop is equivalent to first order inertial loop, Rotating speed measring link is equivalent to proportional component and carries out the design of der Geschwindigkeitkreis controller parameter；

The open-loop transfer function of der Geschwindigkeitkreis is:

$G_s\left(s\right)H_s\left(s\right)=\frac{k_{sp}{K}_t{k}_{sf}}{T_{sl}{k}_{cf}J}\·\frac{T_{si}s+1}{s^2(T_{c}s+1)}$

Wherein: T_cFor the time constant of electric current loop single order equivalent transfer function, γ_mFor Phase margin, T_siFor der Geschwindigkeitkreis controller time constant, k_spFor the proportionality coefficient that der Geschwindigkeitkreis controls, ω_cFor der Geschwindigkeitkreis open-loop cut-off frequency, k_cfFor electric current loop feedback channel gain, k_sfFor der Geschwindigkeitkreis feedback channel gain, K_tFor torque constant, J is rotary inertia；

According to der Geschwindigkeitkreis open-loop transfer function, phase angle ∠ G_s(jω)H_s(j ω) existsPlace obtains maximum, choosesAs der Geschwindigkeitkreis open-loop cut-off frequency ω_c, then determine T according to der Geschwindigkeitkreis Phase margin_isValue, finally according to | G_s(jω_c)H_s(jω_c) |=1, it is determined that k_spValue；

Specifically, carry out der Geschwindigkeitkreis by following two formula and control the design of parameter:

$T_{si}=T_c{({\mathrm{tan\γ}}_m+\sqrt{{\tan }^2{\mathrm{\γ}}_m+1})}^2$

$k_{sp}=\frac{{\mathrm{\ω}}_c^2\sqrt{{\left(T_c{\mathrm{\ω}}_c\right)}^2+1}}{\sqrt{{\left(T_{si}{\mathrm{\ω}}_c\right)}^2+1}}\×\frac{T_{si}{k}_{cf}J}{9.55k_{sf}{K}_t};$

(2) calculating of position ring parameter

Position ring is positioned at the most outer shroud of closed-loop control system, completes the function of position follower and location；Here adjusting based on above der Geschwindigkeitkreis controller, it is proposed to the setting mode of position ring proportional gain.

First der Geschwindigkeitkreis open-loop transfer function is:

$G_s\left(s\right)H_s\left(s\right)=\frac{1}{k_{sf}}\·\frac{k_{sp}{K}_t{k}_{sf}}{T_{si}{k}_{cf}J}\·\frac{T_{si}s+1}{s^2(T_{c}s+1)}$

Comparing der Geschwindigkeitkreis, the bandwidth of position ring is much lower, therefore considers der Geschwindigkeitkreis closed loop transfer function is equivalent to first order inertial loop:

$G_{bs}\left(s\right)=\frac{1}{k_{sf}}\·\frac{1}{T_{s}s+1}$

In order to ensure before equivalence with equivalence after the closed-loop bandwidth of closed loop amplitude-frequency characteristic identical, orderWherein ω_bFor der Geschwindigkeitkreis closed-loop bandwidth；

Control in the process of parameter tuning at der Geschwindigkeitkreis, the general comparatively difficulty of the acquisition of der Geschwindigkeitkreis closed-loop bandwidth, and the acquisition of der Geschwindigkeitkreis open-loop cut-off frequency is relatively simple comparatively speaking, simultaneously because the closed-loop bandwidth of system and open-loop cut-off frequency have concordance: an increase, another also increases, and the close closed-loop bandwidth of numerical value is slightly larger than open-loop cut-off frequency, when therefore carrying out der Geschwindigkeitkreis closed loop transfer function equivalent here, use open-loop cut-off frequency ω_cCalculate the time constant of inertial element；

The servosystem of the position ring of adoption rate controller can obtain a typical second-order system:

$f\left(s\right)=\frac{w_n^2}{s^2+2{\mathrm{\ξw}}_n+w_n^2},$

Obtain natural frequency and damping ratio, make damping ratio more than 1, calculate the Proportional coefficient K of position ring_p。

PID controller is the given deviation with feedback according to system, and deviation signal is processed by proportion of utilization, integration, differential method, calculates controlled quentity controlled variable and acts on controlled device, makes given and feedback deviation change to minimum direction；

The time-domain expression of PID controller is as follows:

$u\left(t\right)=K_p\[e\left(t\right)+\frac{1}{T_I}\∫e\left(t\right)dt+T_D\frac{de\left(t\right)}{dt}\]$

In formula, K_pRate mu-factor, T_IThe time of integration, T_DDerivative time.

Above formula discretization is just obtained digital pid controller expression formula

$u\left(k\right)=K_{p}e\left(k\right)+K_I\underset{j=0}{\overset{k}{\Σ}}e\left(j\right)+K_D\[e\left(k\right)-e(k-1)\]$

In formula, the control of u (k) kth sampling instant, K_IIntegration amplification coefficient, K_DDifferential amplification coefficient；

This servo-control system adopts digital pid control algolithm, and electric machine control system is changed by electric current loop, speed, position ring three closed loop is constituted；

Electric current loop is as internal ring, and speed ring is as medium ring, and servomotor, as outer shroud, is controlled by position ring successively；

Electric current loop improves the response speed of armature supply and ensures the reliability of system；

Load has been changed anti-interference effect by speed ring, it is ensured that rotating speed is followed the tracks of rapidly and inputted signal；

Position ring then makes motor rotate to rapidly according to position input signal and specifies position mutually.

The hardware of the electric machine control system of the control method of this electric machine controller is broadly divided into motor control module and motor drive module two parts；

Motor control module specifically includes that power circuit, clock circuit, reset circuit, JATG artificial circuit, circuit for controlling motor, AD sample circuit and communicating circuit, warning circuit；

Motor drive module is divided into driving module and detection module; mainly include main drive circuit, isolation and buffer circuit, overvoltage crowbar, owe electric protection circuit, current foldback circuit, thermal-shutdown circuit, short-circuit protection circuit; armature supply overload protecting circuit, reverse power connection protection and fault secure circuit.

The present invention, by the rotary inertia of identification system in advance, turns to controlled system first order inertial loop and second-order inertia link, PID controller is controlled parameter and carries out Self-tuning System, and engineering practicability is higher.

Beneficial effects of the present invention:

The present invention designs based on DSP, possess powerful digital operation and motor control ability, develop the moving movement attitude conirol method based on DSP simultaneously, achieve the practical technology of motion controller speed, positioner pid parameter Self-tuning System, can be widely applied to the industry-by-industry fields such as intelligent wheel chair control, unmanned hay mover, industrial automation, national defence aviation.

Accompanying drawing explanation

Fig. 1 is the present invention controller overall framework having brush/brshless DC motor based on DSP；

Fig. 2 is the digital three Close loop servo control block diagrams of the present invention；

Fig. 3 is that PID motor of the present invention controls program flow diagram；

Fig. 4 is controller hardware frame construction drawing of the present invention.

Detailed description of the invention

Describe the present invention below in conjunction with accompanying drawing 1,2,3,4:

A kind of parameter can the control method of electric machine controller of Self-tuning System, realize two channel DC are had brush or the electric current of DC brushless motor, speed and position three Close loop servo control, employing motor model is analyzed, pick out the value of rotary inertia, relational expression in conjunction with PID controller parameter Yu rotary inertia directly calculates suitable control parameter, it is achieved the Self-tuning System of controller parameter:

(1) calculating of der Geschwindigkeitkreis parameter:

Der Geschwindigkeitkreis, under the premise of system stability, improves the response speed of der Geschwindigkeitkreis；The stability of system and response speed are measured by Phase margin and closed-loop bandwidth respectively；

A. closed-loop bandwidth

The frequency that system closed loop amplitude-frequency characteristic-3dB point is corresponding, for closed-loop bandwidth value ω_b；

Bandwidth and open-loop cut-off frequency ω_c: the frequency values that open loop amplitude-frequency characteristic zero crossing is corresponding, there is concordance, in controller design process, use open-loop cut-off frequency to replace closed-loop bandwidth to characterize the response speed of system；

B. Phase margin

Definition ω_cFor the cut-off frequency of system, amplitude-frequency characteristic is A (w), then

A(ω_c)=| G (j ω_c)H(jω_c)|；

Definition Phase margin is γ=180 °+∠ G (j ω_c)H(jω_c), embodiment is meant that, for closed loop system, if system open loop phase-frequency characteristic delayed γ degree again, then system will be in critical stable state；

Relative to electric current loop and Rotating speed measring link, the response speed of der Geschwindigkeitkreis is relatively slow, therefore the closed loop transfer function of electric current loop is equivalent to first order inertial loop, Rotating speed measring link is equivalent to proportional component and carries out the design of der Geschwindigkeitkreis controller parameter；

The open-loop transfer function of der Geschwindigkeitkreis is:

$G_s\left(s\right)H_s\left(s\right)=\frac{k_{sp}{K}_t{k}_{sf}}{T_{si}{k}_{cf}J}\·\frac{T_{si}s+1}{s^2(T_{c}s+1)}$

Wherein: T_cFor the time constant of electric current loop single order equivalent transfer function, γ_mFor Phase margin, T_siFor der Geschwindigkeitkreis controller time constant, k_spFor the proportionality coefficient that der Geschwindigkeitkreis controls, ω_cFor der Geschwindigkeitkreis open-loop cut-off frequency, k_cfFor electric current loop feedback channel gain, k_sfFor der Geschwindigkeitkreis feedback channel gain, K_tFor torque constant, J is rotary inertia；

According to der Geschwindigkeitkreis open-loop transfer function, phase angle ∠ G_s(jω)H_s(j ω) existsPlace obtains maximum, choosesAs der Geschwindigkeitkreis open-loop cut-off frequency ω_c, then determine T according to der Geschwindigkeitkreis Phase margin_isValue, finally according to | G_s(jω_c)H_s(jω_c) |=1, it is determined that k_spValue；

Specifically, carry out der Geschwindigkeitkreis by following two formula and control the design of parameter:

$T_{si}=T_c{({\mathrm{tan\γ}}_m+\sqrt{{\tan }^2{\mathrm{\γ}}_m+1})}^2$

$k_{sp}=\frac{{\mathrm{\ω}}_c^2\sqrt{{\left(T_c{\mathrm{\ω}}_c\right)}^2+1}}{\sqrt{{\left(T_{si}{\mathrm{\ω}}_c\right)}^2+1}}\×\frac{T_{si}{k}_{cf}J}{9.55k_{sf}{K}_t};$

(2) calculating of position ring parameter

Position ring is positioned at the most outer shroud of closed-loop control system, completes the function of position follower and location；Here adjusting based on above der Geschwindigkeitkreis controller, it is proposed to the setting mode of position ring proportional gain.

First der Geschwindigkeitkreis open-loop transfer function is:

$G_s\left(s\right)H_s\left(s\right)=\frac{1}{k_{sf}}\·\frac{k_{sp}{K}_t{k}_{sf}}{T_{si}{k}_{cf}J}\·\frac{T_{si}s+1}{s^2(T_{c}s+1)}$

Comparing der Geschwindigkeitkreis, the bandwidth of position ring is much lower, therefore considers der Geschwindigkeitkreis closed loop transfer function is equivalent to first order inertial loop:

$G_{bs}\left(s\right)=\frac{1}{k_{sf}}\·\frac{1}{T_{s}s+1}$

In order to ensure before equivalence with equivalence after the closed-loop bandwidth of closed loop amplitude-frequency characteristic identical, orderWherein ω_bFor der Geschwindigkeitkreis closed-loop bandwidth；

Control in the process of parameter tuning at der Geschwindigkeitkreis, the general comparatively difficulty of the acquisition of der Geschwindigkeitkreis closed-loop bandwidth, and the acquisition of der Geschwindigkeitkreis open-loop cut-off frequency is relatively simple comparatively speaking, simultaneously because the closed-loop bandwidth of system and open-loop cut-off frequency have concordance: an increase, another also increases, and the close closed-loop bandwidth of numerical value is slightly larger than open-loop cut-off frequency, when therefore carrying out der Geschwindigkeitkreis closed loop transfer function equivalent here, use open-loop cut-off frequency ω_cCalculate the time constant of inertial element；

The servosystem of the position ring of adoption rate controller can obtain a typical second-order system:

$f\left(s\right)=\frac{w_n^2}{s^2+2{\mathrm{\ξw}}_n+w_n^2},$

Obtain natural frequency and damping ratio, make damping ratio more than 1, calculate the Proportional coefficient K of position ring_p。

(such as Fig. 3): PID controller is the given deviation with feedback according to system, and deviation signal is processed by proportion of utilization, integration, differential method, calculates controlled quentity controlled variable and acts on controlled device, makes given and feedback deviation change to minimum direction；

The time-domain expression of PID controller is as follows:

$u\left(t\right)=K_p\[e\left(t\right)+\frac{1}{T_I}\∫e\left(t\right)dt+T_D\frac{de\left(t\right)}{dt}\]$

In formula, K_pRate mu-factor, T_IThe time of integration, T_DDerivative time.

Above formula discretization is just obtained digital pid controller expression formula

$u\left(k\right)=K_{p}e\left(k\right)+K_I\underset{j=0}{\overset{k}{\Σ}}e\left(j\right)+K_D\[e\left(k\right)-e(k-1)\]$

In formula, the control of u (k) kth sampling instant, K_IIntegration amplification coefficient, K_DDifferential amplification coefficient；

(such as Fig. 2): this servo-control system adopts digital pid control algolithm, and electric machine control system is changed by electric current loop, speed, position ring three closed loop is constituted；

Electric current loop is as internal ring, and speed ring is as medium ring, and servomotor, as outer shroud, is controlled by position ring successively；

Electric current loop improves the response speed of armature supply and ensures the reliability of system；

Load has been changed anti-interference effect by speed ring, it is ensured that rotating speed is followed the tracks of rapidly and inputted signal；

Position ring then makes motor rotate to rapidly according to position input signal and specifies position mutually.

(such as Fig. 1): the hardware of the electric machine control system of the control method of this electric machine controller is broadly divided into motor control module and motor drive module two parts；

Motor control module specifically includes that power circuit, clock circuit, reset circuit, JATG artificial circuit, circuit for controlling motor, AD sample circuit and communicating circuit, warning circuit；

Motor drive module is divided into driving module and detection module; mainly include main drive circuit, isolation and buffer circuit, overvoltage crowbar, owe electric protection circuit, current foldback circuit, thermal-shutdown circuit, short-circuit protection circuit; armature supply overload protecting circuit, reverse power connection protection and fault secure circuit.

Controller hardware designs:

Digital System Processor is for digital control designed DSP, incorporates the optkmal characteristics of DSP and microcontroller, is mainly used in embedded Control application, already covered by the field such as industry, communication, amusement, individual medical treatment, education, environmental Kuznets Curves, safety.For application optimization, and effectively shorten product development cycle,

Jtag interface is used for DSP debugging interface, debugs for system program.UART controller connects host computer by RS485, carries out communication with host computer, it is achieved data are transmitted.PWM module output pwm pulse waveform controls to drive the break-make of module, it is achieved the control function to motor.Voltage, electric current, temperature detection receive the A/D mouth of DSP, it is achieved the collection of analog data, it is achieved protection and feedback control.Hardware frame structure is as shown in Figure 4.

Claims (3)

1. a parameter can the control method of electric machine controller of Self-tuning System, realize two channel DC are had brush or the electric current of DC brushless motor, speed and position three Close loop servo control, employing motor model is analyzed, pick out the value of rotary inertia, relational expression in conjunction with PID controller parameter Yu rotary inertia directly calculates suitable control parameter, realize the Self-tuning System of controller parameter, it is characterised in that:

(1) calculating of der Geschwindigkeitkreis parameter:

Der Geschwindigkeitkreis, under the premise of system stability, improves the response speed of der Geschwindigkeitkreis；The stability of system and response speed are measured by Phase margin and closed-loop bandwidth respectively；

A. closed-loop bandwidth

The frequency that system closed loop amplitude-frequency characteristic-3dB point is corresponding, for closed-loop bandwidth value ω_b；

Bandwidth and open-loop cut-off frequency ω_c: the frequency values that open loop amplitude-frequency characteristic zero crossing is corresponding, there is concordance, in controller design process, use open-loop cut-off frequency to replace closed-loop bandwidth to characterize the response speed of system；

B. Phase margin

Definition ω_cFor the cut-off frequency of system, amplitude-frequency characteristic is A (w), then

A(ω_c)=| G (j ω_c)H(jω_c)|；

Definition Phase margin is γ=180 °+∠ G (j ω_c)H(jω_c), embodiment is meant that, for closed loop system, if system open loop phase-frequency characteristic delayed γ degree again, then system will be in critical stable state；

Relative to electric current loop and Rotating speed measring link, the response speed of der Geschwindigkeitkreis is relatively slow, therefore the closed loop transfer function of electric current loop is equivalent to first order inertial loop, Rotating speed measring link is equivalent to proportional component and carries out the design of der Geschwindigkeitkreis controller parameter；

The open-loop transfer function of der Geschwindigkeitkreis is:

$G_s\left(s\right)H_s\left(s\right)=\frac{k_{sp}{K}_t{k}_{sf}}{T_{si}{k}_{cf}J}\·\frac{T_{si}s+1}{s^2(T_{c}s+1)}$

Wherein: T_cFor the time constant of electric current loop single order equivalent transfer function, γ_mFor Phase margin, T_siFor der Geschwindigkeitkreis controller time constant, k_spFor the proportionality coefficient that der Geschwindigkeitkreis controls, ω_cFor der Geschwindigkeitkreis open-loop cut-off frequency, k_cfFor electric current loop feedback channel gain, k_sfFor der Geschwindigkeitkreis feedback channel gain, K_tFor torque constant, J is rotary inertia；

According to der Geschwindigkeitkreis open-loop transfer function, phase angle ∠ G_s(jω)H_s(j ω) existsPlace obtains maximum, choosesAs der Geschwindigkeitkreis open-loop cut-off frequency ω_c, then determine T according to der Geschwindigkeitkreis Phase margin_isValue, finally according to | G_s(jω_c)H_s(jω_c) |=1, it is determined that k_spValue；

Specifically, carry out der Geschwindigkeitkreis by following two formula and control the design of parameter:

$T_{si}=T_c{({\mathrm{tan\γ}}_m+\sqrt{{\tan }^2{\mathrm{\γ}}_m+1})}^2$

$k_{sp}=\frac{{\mathrm{\ω}}_c^2\sqrt{{\left(T_c{\mathrm{\ω}}_c\right)}^2+1}}{\sqrt{{\left(T_{si}{\mathrm{\ω}}_c\right)}^2+1}}\×\frac{T_{si}{k}_{cf}J}{9.55k_{sf}{K}_t};$

(2) calculating of position ring parameter

Position ring is positioned at the most outer shroud of closed-loop control system, completes the function of position follower and location；Here adjusting based on above der Geschwindigkeitkreis controller, it is proposed to the setting mode of position ring proportional gain.

First der Geschwindigkeitkreis open-loop transfer function is:

$G_s\left(s\right)H_s\left(s\right)=\frac{1}{k_{sf}}\·\frac{k_{sp}{K}_t{k}_{sf}}{T_{si}{k}_{cf}J}\·\frac{T_{si}s+1}{s^2(T_{c}s+1)}$

Comparing der Geschwindigkeitkreis, the bandwidth of position ring is much lower, therefore considers der Geschwindigkeitkreis closed loop transfer function is equivalent to first order inertial loop:

$G_{bs}\left(s\right)=\frac{1}{k_{sy}}\·\frac{1}{T_{s}s+1}$

In order to ensure before equivalence with equivalence after the closed-loop bandwidth of closed loop amplitude-frequency characteristic identical, orderWherein ω_bFor der Geschwindigkeitkreis closed-loop bandwidth；

Control in the process of parameter tuning at der Geschwindigkeitkreis, the general comparatively difficulty of the acquisition of der Geschwindigkeitkreis closed-loop bandwidth, and the acquisition of der Geschwindigkeitkreis open-loop cut-off frequency is relatively simple comparatively speaking, simultaneously because the closed-loop bandwidth of system and open-loop cut-off frequency have concordance: an increase, another also increases, and the close closed-loop bandwidth of numerical value is slightly larger than open-loop cut-off frequency, when therefore carrying out der Geschwindigkeitkreis closed loop transfer function equivalent here, use open-loop cut-off frequency ω_cCalculate the time constant of inertial element；

The servosystem of the position ring of adoption rate controller can obtain a typical second-order system: $f\left(s\right)=\frac{w_n^2}{s^2+2{\mathrm{\ξw}}_n+w_n^2},$

Obtain natural frequency and damping ratio, make damping ratio more than 1, calculate the Proportional coefficient K of position ring_p。

2. parameter according to claim 1 can the control method of electric machine controller of Self-tuning System, it is characterised in that:

PID controller is the given deviation with feedback according to system, and deviation signal is processed by proportion of utilization, integration, differential method, calculates controlled quentity controlled variable and acts on controlled device, makes given and feedback deviation change to minimum direction；

The time-domain expression of PID controller is as follows:

$u\left(t\right)=K_p\[e\left(t\right)+\frac{1}{T_I}\∫e\left(t\right)dt+T_D\frac{de\left(t\right)}{dt}\]$

In formula, K_pRate mu-factor, T_IThe time of integration, T_DDerivative time.

Above formula discretization is just obtained digital pid controller expression formula

$u\left(k\right)=K_{p}e\left(k\right)+K_I\underset{j=0}{\overset{k}{\Σ}}e\left(j\right)+K_D\[e\left(k\right)-e(k-1)\]$

In formula, the control of u (k) kth sampling instant, K_IIntegration amplification coefficient, K_DDifferential amplification coefficient；

This servo-control system adopts digital pid control algolithm, and electric machine control system is changed by electric current loop, speed, position ring three closed loop is constituted；

Electric current loop is as internal ring, and speed ring is as medium ring, and servomotor, as outer shroud, is controlled by position ring successively；

Electric current loop improves the response speed of armature supply and ensures the reliability of system；

Load has been changed anti-interference effect by speed ring, it is ensured that rotating speed is followed the tracks of rapidly and inputted signal；

Position ring then makes motor rotate to rapidly according to position input signal and specifies position mutually.

3. parameter according to claim 1 can the control method of electric machine controller of Self-tuning System, it is characterised in that:

The hardware of the electric machine control system of the control method of this electric machine controller is broadly divided into motor control module and motor drive module two parts；

Motor control module specifically includes that power circuit, clock circuit, reset circuit, JATG artificial circuit, circuit for controlling motor, AD sample circuit and communicating circuit, warning circuit；

Motor drive module is divided into driving module and detection module; mainly include main drive circuit, isolation and buffer circuit, overvoltage crowbar, owe electric protection circuit, current foldback circuit, thermal-shutdown circuit, short-circuit protection circuit; armature supply overload protecting circuit, reverse power connection protection and fault secure circuit.