CN105932918A - Method and apparatus for controlling operation velocity of linear servo system of high-precision numerical control machine tool - Google Patents
Method and apparatus for controlling operation velocity of linear servo system of high-precision numerical control machine tool Download PDFInfo
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- CN105932918A CN105932918A CN201610309272.9A CN201610309272A CN105932918A CN 105932918 A CN105932918 A CN 105932918A CN 201610309272 A CN201610309272 A CN 201610309272A CN 105932918 A CN105932918 A CN 105932918A
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- 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
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- 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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode 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
Abstract
The invention discloses a method and apparatus for controlling the operation velocity of a linear servo system of a high-precision numerical control machine tool. The method includes the following steps: adopting a fuzzy sliding mode controller, adopting the exponential approach law at an approach motion stage, and adopting fuzzy control to realize switch control of a sliding mode at a sliding mode motion stage. The method enables a system to have excellent robustness and anti-interference capability, reduces buffeting of the operating velocity of the system, and accelerates responding velocity of the system. According to the invention, the apparatus includes a DSP digital signal processor unit, an A/D module, a rectification filtering module, a linear motor, an IPM intelligent power module, an encoder, a sensor, a current detecting module, a photoelectric isolation module and a fault detection module, etc.
Description
Technical field
The invention belongs to Motor Control Field, particularly relate to a kind of method controlling the linear servo system speed of service being applied on high-precision digital control lathe and device thereof.
Background technology
Development along with the advanced manufacturing technology such as superhigh-speed cutting, Ultra-precision Turning, modern machine properties is proposed the highest requirement, thus traditional feed system, such as " rotating servo motor+ball-screw " technology is difficult to meet high-precision numerical control machine to maximum feed speed and the requirement of positioning precision.Linear electric motors can produce the advantage of linear mechanical motion because of it without intermediate mechanical converting means, and is widely used in the occasion of various linear motion, especially the High-speed machining field as essential characteristic with high efficiency and high accuracy.But, the distinctive this kind of drive of linear electric motors can make the change of systematic parameter and various uncertain disturbance act directly on linear electric motors, is greatly increased the control difficulty of system, has influence on systematic function.Therefore, the research to linear servo system control strategy is particularly important.
The control strategy taked linear servo system at present specifically includes that traditional control method, modern control method and intelligent control method.But in the actual application of modern industry, the either Traditional control strategy with PID control as representative, or the modern scientist strategies such as robust control, Self Adaptive Control, H ∞, or all there are some problems in simple Intelligent Control Strategy, such as: force oscillation is big, precision is not high enough, poor robustness etc., all it is difficult to reach preferably to control effect, it is impossible to meet the requirement of high-performance linear servo-drive system.
Summary of the invention
The deficiency existed for above prior art, the present invention provides a kind of method and device controlling the linear servo system speed of service for high-precision digital control lathe, it is possible to force oscillation is obviously reduced, accelerates system response time, the robustness of enhancing system.
One of technical scheme is:
A kind of device controlling the linear servo system speed of service for high-precision digital control lathe, this device includes rectification filtering module, IPM SPM, linear electric motors (PMLSM), DSP unit, A/D module, fault detect protection module, photoelectric isolation module, current detection module, encoder, sensor, keyboard & display.
Described DSP unit includes: memory, clock, oscillator and phaselocked loop, watchdog module, CPU timing, general I/O port (GPIO), peripheral interrupt expansion PIE, general purpose timer, comparing unit, pwm circuit, quadrature coding pulse QEP circuit, serial communication interface, software memory, driver.
Described software memory and driver are for realizing PI regulation controller and the function of Fuzzy Sliding Model Controller, and are used for giving system magnetic linkage, the movement velocity of given linear electric motors and position.
Described rectification filtering module is connected to IPM SPM, IPM SPM is connected to linear electric motors (PMLSM), on the other hand, current detection module gathers the phase current of IPM SPM output, and the signal of collection passes to the A/D module in DSP unit；Described sensor is connected with linear electric motors (PMLSM) by encoder, and is connected with DSP unit, the speed of detection of straight lines motor and position, and is transformed into the signal of telecommunication and passes to DSP unit；Being connected between described DSP unit with described IPM SPM and have photoelectric isolation module and fault detect protection module, the effect of fault detect protection module is mainly and rectification filtering module and IPM SPM carries out detection protection；DSP unit is also connected with outside keyboard & display, and the effect of keyboard & display is data input and display.
The two of technical scheme are:
A kind of method controlling the linear servo system speed of service for high-precision digital control lathe, described control method comprises the following steps:
Step 1, is configured initial values such as the position of linear electric motors, speed；
Step 2, DSP unit is circulated scan process to above-mentioned initial value, performs interrupt routine；
Step 3, in the case of not having fault, signal that DSP cell read current detection module sensor collects also processes, and calculates system estimation magnetic linkage and the size of system estimation thrust；
Step 4, the linear electric motors rate signal collected is processed by DSP unit by Fuzzy Sliding Model Controller, obtain system actual thrust, again through the process of PI regulation controller, draw the magnetic linkage angle of deviation, the magnetic linkage angle of deviation is added with the system estimation magnetic linkage obtained before, obtains predicted voltage vector, and as the input control signal of IPM SPM；
Step 5, IPM SPM runs according to above-mentioned predicted voltage vector controlled linear electric motors, and system enters next cycle period.
A kind of described method controlling the linear servo system speed of service for high-precision digital control lathe, exponentially approaching rule is used at convergence motor segment, the speed of service making system quickly arrives diverter surface, use fuzzy control to realize the switching control of sliding formwork at sliding formwork motor segment, the chattering phenomenon that system is run can be reduced.Fuzzy control is controlled to combine by this control method with sliding formwork, a kind of Fuzzy Sliding Model Controller of design, and uses the mode of voltage prediction to achieve the control to linear electric motors direct Thrust.
The design procedure of described Fuzzy Sliding Model Controller is as follows:
Step 1, determines the input of Fuzzy Sliding Model Controller: using the error rate of the given speed of linear electric motors, the actual speed of linear electric motors, the given speed of linear electric motors and the error of actual speed and linear electric motors given speed and actual speed as the input of Fuzzy Sliding Model Controller；
Step 2, designs sliding-mode surface；
Step 3, chooses exponentially approaching rule；
Step 4, determines sliding formwork switching control amount；
Step 5, the stability of checking system；
Step 6, determines the fuzzy set of fuzzy control:
Step 7, designs fuzzy rule；
Step 8, carries out anti fuzzy method；
Step 9, determines output, draws system actual thrust.
A kind of described method controlling the linear servo system speed of service for high-precision digital control lathe, its complete control process comprises the steps:
Step 1, input linear electric motors initial parameter and the given speed of linear electric motors, system give magnetic linkage；
Step 2, carries out coordinate transform to voltage, the electric current of inverter output, thus carries out the estimation of system magnetic linkage and thrust, obtain system estimation magnetic linkage and system estimation thrust；
Step 3, carries out the design procedure of above-mentioned Fuzzy Sliding Model Controller, draws system actual thrust；
Step 4, draws thrust deflexion according to system actual thrust and system estimation thrust；
Step 5: thrust deflexion is carried out PI regulation, draws the magnetic linkage angle of deviation；
Step 6: the above-mentioned magnetic linkage angle of deviation, system are given magnetic linkage, system estimation magnetic linkage as input, carry out reference voltage prediction, draw predicted voltage vector；
Step 7: by predicted voltage vector-controlled SVPWM (space vector pulse width modulation), thus control inverter；
Step 8: the motion of the Control of Voltage linear electric motors of inverter output, controls the cycle subsequently into the next one.
Beneficial effects of the present invention:
1, the present invention uses Direct Thrust Control mode, decreases the coordinate transform of complexity；
2, control method of the present invention uses exponentially approaching rule at convergence motor segment, makes system quickly arrive diverter surface, uses fuzzy control to realize the switching control of sliding formwork at sliding formwork motor segment, can reduce the chattering phenomenon that system is run；
3, the present invention uses fuzzy control and sliding formwork to control the control method combined, and accelerates the speed of service response time of system, improves the robustness of system.
Accompanying drawing explanation
Fig. 1 is the hardware system block diagram that the present invention controls device；
Fig. 2 is the system block diagram of control method of the present invention；
Fig. 3 is the main program flow chart of control method of the present invention；
Fig. 4 is the system break program flow diagram of control method of the present invention.
In figure: the given speed of V* linear electric motors；The actual speed of V linear electric motors；F* system actual thrust；F system estimation thrust；ψ * system gives magnetic linkage；ψ system estimation magnetic linkage；e1The given speed of linear electric motors and the error of actual speed；e2Linear electric motors given speed and the error rate of actual speed；ufSliding formwork switching control exports；ueqSliding formwork equivalent control exports；FC fuzzy control；SMC Sliding mode variable structure control.
Detailed description of the invention
In order to further appreciate that present disclosure, below in conjunction with the accompanying drawings and give an actual example and describe the present invention.
As shown in Figure 1; the control device of a kind of linear servo system speed of service being applied to high-precision digital control lathe of the present invention, comprising: rectification filtering module, IPM SPM, linear electric motors (PMLSM), DSP unit, A/D module (not marking in figure), fault detect protection module, photoelectric isolation module, current detection module, encoder, sensor, keyboard & display.
Rectification filtering module is connected to IPM SPM, IPM SPM is connected to linear electric motors (PMLSM), on the other hand, current detection module gathers the phase current of IPM SPM output, and the signal of collection passes to the A/D module (not marking in figure) in DSP unit；Sensor is connected with linear electric motors (PMLSM) by encoder, and is connected with DSP unit, the speed of detection of straight lines motor and position, and is transformed into the signal of telecommunication and passes to DSP unit；Being connected between described DSP unit with described IPM SPM and have photoelectric isolation module and fault detect protection module, the effect of fault detect protection module is mainly and rectification filtering module and IPM SPM carries out detection protection；DSP unit is also connected with outside keyboard & display, and the effect of keyboard & display is data input and display.
Described DSP unit includes: memory, clock, oscillator and phaselocked loop, watchdog module, CPU timing, general I/O port (GPIO), peripheral interrupt expansion PIE, general purpose timer, comparing unit, pwm circuit, quadrature coding pulse QEP circuit, serial communication interface, software memory, driver.
Described software memory and driver are for realizing PI regulation controller and the function of Fuzzy Sliding Model Controller, and are used for giving system magnetic linkage, the movement velocity of given linear electric motors and position.
The present invention devises the control method of a kind of linear servo system speed of service being applied to high-precision digital control lathe, and described control method specifically includes following steps:
Step 1, is configured initial values such as the position of linear electric motors, speed；
Step 2, DSP unit is circulated scan process to above-mentioned initial value, performs interrupt routine；
Step 3, in the case of not having fault, signal that DSP cell read current detection module and sensor collect also processes, and calculates system estimation magnetic linkage and the size of system estimation thrust；
Step 4, the linear electric motors rate signal collected is processed by DSP unit by Fuzzy Sliding Model Controller, obtain system actual thrust, again through the process of PI regulation controller, draw the magnetic linkage angle of deviation, the magnetic linkage angle of deviation is added with the system estimation magnetic linkage obtained before, obtains predicted voltage vector, and as the input control signal of IPM SPM；
Step 5, IPM SPM runs according to above-mentioned predicted voltage vector controlled linear electric motors, and system enters next cycle period.
As in figure 2 it is shown, described control method uses Fuzzy Sliding Model Controller, Sliding mode variable structure control SMC and fuzzy control FC are combined.Sliding mode variable structure control SMC as forward path control, using the movement velocity of linear electric motors as the input of Sliding mode variable structure control SMC, is obtained sliding formwork equivalent control output u by described Fuzzy Sliding Model Controllereq, use exponentially approaching rule at convergence motor segment, when system is by external disturbance, can quickly follow the tracks of Setting signal, fast response time；Described control method realizes sliding formwork switching control by fuzzy control FC, by the error e of linear electric motors motion given speed Yu actual speed1And rate of change e2As the input of fuzzy control FC, obtained the output of fuzzy control FC by fuzzy rule fuzzy reasoning and anti fuzzy method, be i.e. that sliding formwork switching control exports uf。
The design procedure of above-mentioned Fuzzy Sliding Model Controller is as follows:
Step 1: determine the input of Fuzzy Sliding Model Controller: by the given speed V* of linear electric motors, actual speed V of linear electric motors, the given speed of linear electric motors and the error e of actual speed1And the error rate e of linear electric motors given speed and actual speed2Input as Fuzzy Sliding Model Controller；
Step 2: design sliding-mode surface is:
Step 3: choose exponentially approaching rule:
Step 4: determine sliding formwork switching control amount: us=-ξ sgn (s)；
Step 5: verify its stability: taking Lyapunov function is:Derivation obtains:WillSubstitution can obtain:
Because ξ, K are the constant more than 0,
Set up, it was demonstrated that system is stable under the effect of Fuzzy Sliding Model Controller；
Step 6: determine the fuzzy set of fuzzy control:
S={NB NM NS ZO PS PM PB}
us={ NB NM NS ZO PS PM PB}
Step 7: according to if (E is A) and (Ec is B) then (k is C) design fuzzy rule；
Step 8: useCarry out anti fuzzy method；
Step 9: determine output: draw system actual thrust F*.
As in figure 2 it is shown, the control method of a kind of linear servo system speed of service being applied to high-precision digital control lathe of the present invention, its complete control process i.e. implementation method comprises the steps:
Step 1: input linear electric motors initial parameter and the given speed V* of linear electric motors, system give magnetic linkage ψ *；
Step 2: voltage, the electric current of inverter output is carried out coordinate transform, thus carry out the estimation of system magnetic linkage and thrust, obtains system estimation magnetic linkage ψ and system estimation thrust F；
Step 3: carry out the design procedure of above-mentioned Fuzzy Sliding Model Controller, draws system actual thrust F*；
Step 4: draw thrust deflexion according to system actual thrust F* and system estimation thrust F；
Step 5: thrust deflexion is carried out PI regulation, draws the magnetic linkage angle of deviation；
Step 6: the above-mentioned magnetic linkage angle of deviation, system are given magnetic linkage ψ *, system estimation magnetic linkage ψ as input, carry out reference voltage prediction, draw predicted voltage vector；
Step 7: by predicted voltage vector-controlled SVPWM (space vector pulse width modulation), thus control inverter；
Step 8: the motion of the Control of Voltage linear electric motors of inverter output, controls the cycle subsequently into the next one.
As it is shown on figure 3, be that the main program flow of control method of the present invention is as follows, including: system initialization, register and variable initializer show, interrupt initializing, read the initial value of sensor detection, fault detect, open interruption, perform to interrupt controlling subprogram, close and interrupt, enter next one circulation.Wherein, the numerical signal that sensor is mainly detected by fault detect carrying out fault, crossing stream judgement, if there is fault, carry out troubleshooting, troubleshooting returns previous step after completing and re-starts detection, then carries out fault detect, until fault-free then performs next step.
As shown in Figure 4, the interrupt routine flow process for control method of the present invention is as follows, including: open interruption, preserve variable, coordinate transform, estimation thrust and magnetic linkage, call Fuzzy Sliding Model Controller, call PI controller, calling voltage prediction program, perform SVPWM module, data preserve, and interrupt returning.Wherein coordinate transform mainly carries out Clark conversion to the phase current of the inverter output collected；Estimation thrust and magnetic linkage are to calculate the current value obtained by conversion, obtain system estimation magnetic linkage ψ and system estimation thrust F；Call Fuzzy Sliding Model Controller is mainly the given speed V* with linear electric motors, detection obtains actual speed V of linear electric motors, the given speed of linear electric motors and the error e of actual speed1, the error rate e of linear electric motors given speed and actual speed2For input value, processed by foregoing control algolithm, obtain system actual thrust F*；Call PI controller to be mainly described system actual thrust F* and system estimation thrust F process, obtain the magnetic linkage angle of deviation；Call voltage prediction program mainly with the described magnetic linkage angle of deviation, system estimation magnetic linkage ψ, system estimation thrust F for input, obtain predicted voltage vector by process；Perform SVPWM module and mainly directly generate three-phase PWM ripple by space vector of voltage, complete the control to motor.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the invention and accompanying drawing content to be made or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical fields, the most in like manner it is included in the scope of patent protection of the present invention.
Claims (5)
1. the device controlling the linear servo system speed of service of high-precision digital control lathe, including: rectification filtering module, IPM SPM, linear electric motors, DSP unit, A/D module, fault detect protection module, photoelectric isolation module, current detection module, encoder, sensor, keyboard & display；Described rectification filtering module is connected to IPM SPM, IPM SPM is connected to linear electric motors, described current detection module gathers the phase current of IPM SPM output, and the signal of collection passes to the A/D module in DSP unit；Described sensor is connected with linear electric motors by encoder, and is connected with DSP unit, and the speed of linear electric motors and position signalling are passed to DSP unit；It is connected between described DSP unit with described IPM SPM and has photoelectric isolation module and fault detect protection module；Described DSP unit is also connected with outside keyboard & display；It is characterized in that, described DSP unit includes software memory and driver, for realizing PI regulation controller and the function of Fuzzy Sliding Model Controller.
The device controlling the linear servo system speed of service of high-precision digital control lathe the most according to claim 1, it is characterized in that, described DSP unit also includes: memory, clock, oscillator and phaselocked loop, watchdog module, CPU timing, general I/O port, peripheral interrupt expansion PIE, general purpose timer, comparing unit, pwm circuit, quadrature coding pulse QEP circuit, serial communication interface.
3. the method controlling the linear servo system speed of service of a high-precision digital control lathe, it is characterised in that comprise the following steps:
Step 1, is configured initial values such as the position of linear electric motors, speed；
Step 2, DSP unit is circulated scan process to above-mentioned initial value, performs interrupt routine；
Step 3, in the case of not having fault, signal that DSP cell read current detection module and sensor collect also processes, and calculates system estimation magnetic linkage and the size of system estimation thrust；
Step 4, the linear electric motors rate signal collected is processed by DSP unit by Fuzzy Sliding Model Controller, obtain system actual thrust, again through the process of PI regulation controller, draw the magnetic linkage angle of deviation, the magnetic linkage angle of deviation is added with the system estimation magnetic linkage obtained before, obtains predicted voltage vector, and as the input control signal of IPM SPM；
Step 5, IPM SPM runs according to above-mentioned predicted voltage vector controlled linear electric motors, and system enters next cycle period.
Control method the most according to claim 3, it is characterized in that, fuzzy control is controlled to combine by described control method with sliding formwork, a kind of Fuzzy Sliding Model Controller of design, described Fuzzy Sliding Model Controller uses exponentially approaching rule at system convergence motor segment, use fuzzy control to realize the switching control of sliding formwork at system sliding formwork motor segment, use the mode of voltage prediction to achieve the Direct Thrust Control of linear electric motors.
Control method the most according to claim 4, it is characterised in that the design procedure of described Fuzzy Sliding Model Controller is as follows:
Step 1, determines the input of Fuzzy Sliding Model Controller: using the error rate of the given speed of linear electric motors, the actual speed of linear electric motors, the given speed of linear electric motors and the error of actual speed and linear electric motors given speed and actual speed as the input of Fuzzy Sliding Model Controller；
Step 2, designs sliding-mode surface；
Step 3, chooses exponentially approaching rule；
Step 4, determines sliding formwork switching control amount；
Step 5, the stability of checking system；
Step 6, determines the fuzzy set of fuzzy control:
Step 7, designs fuzzy rule；
Step 8, carries out anti fuzzy method；
Step 9, determines output, draws system actual thrust.
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| CN107884057A (en) * | 2017-11-22 | 2018-04-06 | 苏州市计量测试研究所 | The automatic add load control of counterweight for electronic crane scale detection means |
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| CN108233788A (en) * | 2018-01-19 | 2018-06-29 | 南京信息工程大学 | Brshless DC motor sliding mode variable structure control method based on power exponent tendency rate |
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| CN109728757A (en) * | 2019-02-28 | 2019-05-07 | 华中科技大学 | The arbitrarily double vector model prediction thrust control methods of line inductance electromotor and system |
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| CN109728757B (en) * | 2019-02-28 | 2020-11-24 | 华中科技大学 | Method and system for controlling prediction thrust of linear induction motor by using arbitrary double-vector model |
| CN110289795A (en) * | 2019-05-29 | 2019-09-27 | 南京金崎新能源动力研究院有限公司 | A kind of Over Electric Motor with PMSM control system and control method |
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| CN111280903A (en) * | 2020-01-16 | 2020-06-16 | 浙江工业大学 | Multifunctional office chair and method based on three-dimensional needle carving |
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Application publication date: 20160907 |