CN106067750B - A kind of permanent-magnetism linear motor method of servo-controlling - Google Patents
A kind of permanent-magnetism linear motor method of servo-controlling Download PDFInfo
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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
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy 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
- H02P21/0014—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using neural networks
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Abstract
The invention discloses a kind of permanent-magnetism linear motor method of servo-controlling, position ring and q shaft currents ring composition position current controller, speed ring and q shaft currents composition speed current controller, position current controller and speed current controller export q shaft voltages using parallel control mode and give Uq；D shaft currents give U using PI control output d shaft voltagesd；UqAnd UdAfter Park is converted, controlled quentity controlled variable U is exportedαAnd Uβ, UαAnd UβSix road pulse signals are exported by SVPWM, six road pulse signals carry out three-phase inversion by six power switch pipes of three phase inverter, and final output is applied to the three-phase voltage on three-phase permanent linear motor, realizes the control to three-phase permanent linear motor.The method of the present invention improves the stability, accuracy and dynamic response of Linear motor servo control system.
Description
Technical field
The present invention relates to a kind of permanent-magnetism linear motor method of servo-controlling, belong to motor servo and control technology.
Background technology
Linear motor has many advantages, such as to directly drive, high thrust, high rigidity and long stroke become domestic and international machine industry system
Make the first choice of advanced processing.In machine tool feed servo-drive system, compared to former electric rotating machine, linear motor eliminates motor
With the mechanical mechanism of workbench, driving-chain is shortened, so as to realize the high-speed response directly driven, reduces mechanical friction
And tracking lag, improve the efficiency and precision of lathe.Due to eliminating transmission device, linear motor, which can be realized, instantaneously to be opened
Dynamic, when high speed, instantaneously stops, and is applied very well in high-speed cutting.
According to the requirement of control accuracy and dynamic property, usually there are many controls in the Positioning Servo System of linear motor
Mode processed.Relatively low occasion being required to may be employed control, position is monocyclic, the control strategy of impressed current protection.Monocyclic is difficult to reach
To accurate required precision and very high performance requirement.Double Loop Control System includes current inner loop and position outer shroud, can realize
The decoupling of excitation and thrust carries out vector controlled, can not only inhibit the fluctuation of electric current but also can realize the quick tracking of position, by
In no speed control, system load capacity is weaker, suitable for the occasion of underloading.Three close-loop control system includes position ring, speed
Ring, electric current loop, form series control system, three close-loop control system rejection to disturbance ability compared with it is strong, load capacity is strong, due to position outer shroud
Adjusting is needed by speed ring and electric current loop, and hysteresis is caused to adjust, and generates tracking error.
Permanent-magnetism linear motor is since there are slot effect, end effect, systematic parameter (mover quality, viscous friction coefficients
Deng) change, non-linear factors, the linear induction motor system such as force oscillation are a multivariable, the nonlinear system of time-varying, are being required
Higher SERVO CONTROL occasion, traditional PID controller are extremely difficult to accurately control requirement.It can be realized using intelligent control
Effect more preferable than PID control.
The content of the invention
Goal of the invention：The shortcomings that in order to make up position, electric current loop double -loop control load capacity is weak, overcome position and speed, electricity
Flow the deficiency of ring three close-loop control hysteresis, while improve the control accuracy of speed ring and position ring, the present invention provide it is a kind of it is new forever
Magnetic Linear motor servo control method；This method is simultaneously using position current controller and the control of speed current controller parallel connection
Strategy causes two kinds of controllers to contribute jointly to output controlled quentity controlled variable, can effectively improve electricity using fuzzy classification thought
The target following characteristic and noiseproof feature of machine reduce steady-state error and response time, so as to obtain more preferably controlling
Energy.Meanwhile the present invention employs endoneurium control method in position current controller and speed current controller, this is one
Kind preferably for time variation and nonlinear control method, can further improve the tracking characteristics of motor servo system and resist
Interference characteristic.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
A kind of permanent-magnetism linear motor method of servo-controlling, position ring and q shaft currents ring composition position current controller, speed
Ring and q shaft currents composition speed current controller, position current controller and speed current controller use parallel control mode
Output q shaft voltages give Uq；D shaft currents give U using PI control output d shaft voltagesd；UqAnd UdAfter Park is converted, output
Controlled quentity controlled variable UαAnd Uβ, UαAnd UβBy SVPWM export six road pulse signals, six road pulse signals pass through three phase inverter six
A power switch pipe carries out three-phase inversion, and final output is applied to the three-phase voltage on three-phase permanent linear motor, realizes to three
The control of phase permanent-magnetism linear motor.
The position current controller includes positioner and current controller；Positioner is using in the nerve of position
Film controls, and inputs and gives x for position*X, position tracking error e are fed back with positionxOn-line tuning position endoneurium controller
Weights omegax, export and given for the q shaft currents of position current controllerCurrent controller is controlled using PI, position current control
The q shaft currents of device giveI is fed back with q shaft currentsqAfter subtracting each other, the q shaft voltages through PI controller outgoing position current controllers are given
Determine Ux。
The speed current controller includes speed control and current controller；Speed control is using in speed nerve
Film controls, and inputs as speed preset v*With velocity feedback v, speed tracing error evOn-line tuning speed endoneurium controller
Weights omegav, export and given for the q shaft currents of speed current controllerCurrent controller is controlled using PI, speed current control
The q shaft currents of device giveI is fed back with q shaft currentsqAfter subtracting each other, the q shaft voltages through PI controller output speed current controllers
Given Uv。
The ωxAnd ωvIt is determined by fuzzy classification controller and weight distribution device, fuzzy classification controller includes position
Fuzzy classification controller and velocity ambiguity separation controller；Location fuzzy separation controller uses two-dimensional fuzzy controller, two dimension
Fuzzy controller is to position tracking error exWith position tracking error derivative ecxCarry out fuzzy classification, and outgoing position current control
The spatial fuzzy membership μ of devicex；Velocity ambiguity separation controller use two-dimensional fuzzy controller, two-dimensional fuzzy controller to speed with
Track error evWith speed tracing error derivative ecvCarry out fuzzy classification, and the spatial fuzzy membership μ of output speed current controllerv；
Weight distribution device is to μxAnd μvDistribution is normalized and obtains ωxAnd ωv；Uq=ωxUx+ωvUv。
The position endoneurium controls (Neural Network Internal Model Control of
Position, abbreviation NNIMCP) include position nerve network controller (Neural Network Control of
Position, abbreviation NNCP) and position neutral net internal model (Neural Network Model of Position, letter
Claim NNMP) two parts；Wherein position nerve network controller NNCP uses 5-7-1 three-layer neural network structures, using under gradient
Drop method carries out on-line tuning；Position neutral net internal model NNMP uses 4-7-1 three-layer neural network structures, using under gradient
Drop method carries out on-line tuning；
The speed endoneurium controls (Neural Network Internal Model Control of
Velocity, abbreviation NNIMCV) include speed nerve network controller (Neural Network Control of
Velocity, abbreviation NNCV) and speed neutral net internal model two parts (Neural Network Model of
Velocity, abbreviation NNMV)；Its medium velocity nerve network controller NNCV uses 6-7-1 three-layer neural network structures, using ladder
It spends descent method and carries out on-line tuning；Speed neutral net internal model NNMV uses 5-7-1 three-layer neural network structures, using ladder
It spends descent method and carries out on-line tuning.
The d shaft currents are controlled using PI, and d shaft currents giveI is fed back with d shaft currentsdIt is defeated through PI controllers after subtracting each other
Go out d shaft voltages and give Ud；Preferably, the d shaft currents give
Advantageous effect：Permanent-magnetism linear motor method of servo-controlling provided by the invention, by fuzzy classification controller and simultaneously
Row bimodulus type controller and PI controllers realize the whole control of linear motor.Fuzzy classification controller can be to position and speed
Control effect carries out fuzzy classification, determines the control effect quality of the respective controller of dual controller, determines the person in servitude of respective model
Category degree when position control is bad, increases position and controls in real time, when speed is bad, build up speed control, when the load
Cause the instantaneous change of acceleration, speed control model can be fed back in time, and Fuzzy controller output degree of membership increases
Add, speed current diffusion limited model plays a major role, and realizes the quick response of system；When the position is changes, location fuzzy controller
Exporting degree of membership increases, and current control its main function in position realizes the quick tracking of position.The speed control model in stable state
It works weaker, position ring plays a leading role, and realizes the quick tracking of servo-drive system.Wherein position and speed control are using nerve
Internal model control intelligent control, can resist rapidly load or external environment changes caused Parameters variation disturbance, further
Improve system control accuracy and interference free performance.
The advantage and disadvantage that the present invention is controlled from traditional location speed electric current tricyclic tandem and two ring of position electric current, devise
The parallel type control of dual model, can realize accurate positioning and quick response, and employ Neural network internal model control, for load and
When external environment changes, it can respond rapidly to, strong antijamming capability, while improve the stable state accuracy of system.
Description of the drawings
Fig. 1 is the application system block diagram of the present invention；
Fig. 2 is the structure diagram of position current controller；
Fig. 3 is the structure diagram of speed current controller；
Fig. 4 is position tracking error ambiguity membership function；
Fig. 5 is speed tracing error ambiguity membership function；
Fig. 6 is position current controller spatial fuzzy membership μxFunction；
Fig. 7 is speed current controller spatial fuzzy membership μvFunction；
Fig. 8 is neural control flow chart in Neural network internal model control device.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
A kind of permanent-magnetism linear motor method of servo-controlling, Fig. 1 are the whole control block diagrams of system.By grating scale to position
It is detected with speed, electric current is detected by current sensor or Hall sensor.The position and speed wherein detected leads to
It crosses compared with Setting signal, output difference by Fuzzy Classifier, be subordinate to by the space for obtaining position and speed double model cootrol
Category degree μxAnd μv, dual model is obtained each to the contribution ω of system by weight distribution devicexAnd ωv；Position current controller and speed
Spend current controller output controlled quentity controlled variable UxAnd Uv, the output of position current controller and speed current controller and its corresponding weight value
The adduction of product obtains q shaft voltages controller output Uq.D shaft currents give subtract each other with sample rate current after by d axis controllers, it is defeated
Go out controlled quentity controlled variable Ud。UαAnd UβSix road pulse signals, six road pulse signals pass through three phase inverter six are exported by SVPWM
Power switch pipe carries out three-phase inversion, and final output is applied to the three-phase voltage on three-phase permanent linear motor, realizes to three-phase
The control of permanent-magnetism linear motor.The design process of each controller is illustrated below.
(1) as shown in Fig. 2, the position current controller includes positioner and current controller；Positioner
It is controlled using position endoneurium, inputs and give x for position*X, position tracking error e are fed back with positionxOn-line tuning position god
Weights omega through inner membrance controllerx, export and given for the q shaft currents of position current controllerCurrent controller is controlled using PI
System, the q shaft currents of position current controller giveI is fed back with q shaft currentsqAfter subtracting each other, through PI controller outgoing position electric currents
The q shaft voltages of controller give Ux。
The design of position endoneurium control device：Including position nerve network controller NNCP and position neutral net internal mode
Type NNMP two parts, the output signal of position nerve network controller NNCP arePosition neutral net internal model NNMP's
Output signal is xm, establish position nerve network controller NNCP and position neutral net internal model online in system operation
NNMP。
Position neutral net internal model NNMP is used using three-layer neural network structure, is carried out using gradient descent method
Line adjusts.Discretization is carried out to permanent magnet synchronous motor system model, system is second-order system, then its dynamic model can represent
For：
Changing into difference equation is：
The input of position neutral net internal model NNMP is
Position nerve internal model NNMP uses the structure of 4-7-1, and the output of each layer is represented with o, is inputted and is represented with net：
The output of input layer is：
The input of hidden layer is：J=1,2 ..., 7 and ωjiBe input layer with it is implicit
The connection weight of layer；
The activation primitive of hidden layer is：
The output of hidden layer is：oj2(k)=g (netj2(k))；
Output layer inputs：
Output layer uses linear convergent rate：o3(k)=net3(k)=xm(k)；
Defining the e-learning object function is：
Network weight correction formula is：Δωj(k)=η oj2(x(k)-xm(k)), Δ ωji(k)=η g'(netj3(k))
((x(k)-xm(k))ωj(k)ol1(k), η=0.04 is Studying factors；
Update weights：ωji(k)=ωji(k)+Δωji(k), ωj(k)=ωj(k)+Δωj(k)。
Position nerve network controller NNCP uses 5-7-1 three-layer neural network structures：
The input of input layer is：
Hidden layer inputs：tjiFor hidden layer and input layer connection weight；
Hidden layer exports：ocj(k)=g (netcj(k)),
Output layer inputs：
Output layer uses linear convergent rate：
Neutral net performance indicator object function is：
The modified weight formula of the network is：Δtj(k)=η dx (x*(k)-x (k)),
δ (k)=dx (k) (x*(k)-x (k)), Δ tji(k)=η g'(netcji(k))δ(k)tj(k)ocji(k)；
Update weights：tj(k)=tj(k)+Δtj, tji(k)=tji(k)+Δtji
By on-line tuning weights, realize and export ideal controlled quentity controlled variable
(2) as shown in figure 3, the speed current controller includes speed control and current controller；Speed control
It is controlled, is inputted as speed preset v using speed endoneurium*With velocity feedback v, speed tracing error evOn-line tuning speed god
Weights omega through inner membrance controllerv, export and given for the q shaft currents of speed current controllerCurrent controller is controlled using PI
System, the q shaft currents of speed current controller giveI is fed back with q shaft currentsqAfter subtracting each other, through PI controller output speed electric current controls
The q shaft voltages of device processed give Uv。
The design of speed endoneurium control：Including speed nerve network controller NNCV and speed neutral net internal mode
Type NNMV two parts, the output signal of speed nerve network controller NNCV areSpeed neutral net internal model NNMV's
Output signal is vm, establish speed nerve network controller NNCV and speed neutral net internal model online in system operation
NNMV。
Speed neutral net internal model NNMV is used using three-layer neural network structure, is carried out using gradient descent method
Line adjusts.Discretization is carried out to permanent magnet synchronous motor system model, system is third-order system, then its dynamic model can represent
For：
Changing into difference equation is：
The input of speed neutral net internal model NNMV is
Speed neutral net internal model NNMV uses the structure of 5-7-1, and the output of each layer is represented with o, is inputted and is represented with net：
The output of input layer is：
The input of hidden layer is：J=1,2 ..., 7 and ωjiFor input layer and hidden layer
Connection weight；
The activation primitive of hidden layer is：
The output of hidden layer is：oj2(k)=g (netj2(k))；
Output layer inputs：
Output layer uses linear convergent rate：o3(k)=net3(k)=vm(k)；
Defining the e-learning object function is：
Network weight correction formula is：Δωj(k)=η oj2(v(k)-vm(k)), Δ ωji(k)=η g'(netj3(k))
((v(k)-vm(k))ωj(k)ol1(k), η=0.04 is Studying factors；
Update weights：ωji(k)=ωji(k)+Δωji(k), ωj(k)=ωj(k)+Δωj(k)。
Speed nerve network controller NNCV uses 6-7-1 three-layer neural network structures：
The input of input layer is：
Hidden layer inputs：tjiFor hidden layer and input layer connection weight；
Hidden layer exports：ocj(k)=g (netcj(k)),
Output layer inputs：
Output layer uses linear convergent rate：
Neutral net performance indicator object function is：
The modified weight formula of the network is：Δtj(k)=η dx (v*(k)-v (k)),δ (k)=dv (k) (v*(k)-v (k)), Δ tji(k)=η g'(netcji
(k))δ(k)tj(k)ocji(k)；
Update weights：tj(k)=tj(k)+Δtj, tji(k)=tji(k)+Δtji
By on-line tuning weights, realize and export ideal controlled quentity controlled variable
(3) weights omega of position endoneurium controllerxWith the weights omega of speed endoneurium controllervPass through fuzzy point
Quasi-controller and weight distribution device determine that fuzzy classification controller includes location fuzzy separation controller and velocity ambiguity classification control
Device processed.
Location fuzzy separation controller uses two-dimensional fuzzy controller, and two-dimensional fuzzy controller is to position tracking error exWith
Position tracking error derivative ecxCarry out fuzzy classification, and the spatial fuzzy membership μ of outgoing position current controllerx；Velocity ambiguity point
Quasi-controller uses two-dimensional fuzzy controller, and two-dimensional fuzzy controller is to speed tracing error evWith speed tracing error derivative ecv
Carry out fuzzy classification, and the spatial fuzzy membership μ of output speed current controllerv.Location fuzzy separation controller and velocity ambiguity
Separation controller uses identical fuzzy reasoning table, and input is judged by fuzzy reasoning table, obtains spatial fuzzy membership μx
With spatial fuzzy membership μv；Seven variables are defined for fuzzy rule：Honest PB, center PM, just small PS, 00, bear small NS,
NM and negative big NB in negative describes the size of input variable by this seven variables, and input membership function uses Gaussian function
Form, output membership function uses the form of triangle type function, and fuzzy reasoning table is as shown in table 1.
1 fuzzy Judgment rule list of table
Weight distribution device is to μxAnd μvDistribution is normalized and obtains ωxAnd ωv；Uq=ωxUx+ωvUv。
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. a kind of permanent-magnetism linear motor method of servo-controlling, it is characterised in that：Position ring and the composition position electric current control of q shaft currents ring
Device processed, speed ring and q shaft currents composition speed current controller, position current controller and speed current controller are using parallel
Control mode output q shaft voltages give Uq；D shaft currents give U using PI control output d shaft voltagesd；UqAnd UdBecome by Park
After changing, controlled quentity controlled variable U is exportedαAnd Uβ, UαAnd UβSix road pulse signals are exported by SVPWM, six road pulse signals pass through three-phase inversion
Six power switch pipes of power supply carry out three-phase inversion, and final output is applied to the three-phase voltage on three-phase permanent linear motor,
Realize the control to three-phase permanent linear motor；
The position current controller includes positioner and current controller；Positioner uses position endoneurium control
System, inputs and gives x for position*X, position tracking error e are fed back with positionxThe weight of on-line tuning position endoneurium controller
ωx, export and given for the q shaft currents of position current controllerCurrent controller is controlled using PI, the q of position current controller
Shaft current givesI is fed back with q shaft currentsqAfter subtracting each other, the q shaft voltages through PI controller outgoing position current controllers give Ux；
The speed current controller includes speed control and current controller；Speed control uses speed endoneurium control
System, inputs as speed preset v*With velocity feedback v, speed tracing error evThe weight of on-line tuning speed endoneurium controller
ωv, export and given for the q shaft currents of speed current controllerCurrent controller is controlled using PI, speed current controller
Q shaft currents giveI is fed back with q shaft currentsqAfter subtracting each other, the q shaft voltages through PI controller output speed current controllers give Uv；
The ωxAnd ωvIt is determined by fuzzy classification controller and weight distribution device, fuzzy classification controller includes location fuzzy
Separation controller and velocity ambiguity separation controller；Location fuzzy separation controller uses two-dimensional fuzzy controller, two dimension fuzzy
Controller is to position tracking error exWith position tracking error derivative ecxProgress fuzzy classification, and outgoing position current controller
Spatial fuzzy membership μx；Velocity ambiguity separation controller uses two-dimensional fuzzy controller, and two-dimensional fuzzy controller misses speed tracing
Poor evWith speed tracing error derivative ecvCarry out fuzzy classification, and the spatial fuzzy membership μ of output speed current controllerv；Weight
Distributor is to μxAnd μvDistribution is normalized and obtains ωxAnd ωv；Uq=ωxUx+ωvUv。
2. permanent-magnetism linear motor method of servo-controlling according to claim 1, it is characterised in that：
The position endoneurium control includes position nerve network controller and position neutral net internal model two parts；Its
Middle position nerve network controller uses 5-7-1 three-layer neural network structures, and on-line tuning is carried out using gradient descent method；Position
Neutral net internal model uses 4-7-1 three-layer neural network structures, and on-line tuning is carried out using gradient descent method；
The speed endoneurium control includes speed nerve network controller and speed neutral net internal model two parts；Its
Medium velocity nerve network controller uses 6-7-1 three-layer neural network structures, and on-line tuning is carried out using gradient descent method；Speed
Neutral net internal model uses 5-7-1 three-layer neural network structures, and on-line tuning is carried out using gradient descent method.
3. permanent-magnetism linear motor method of servo-controlling according to claim 1, it is characterised in that：The d shaft currents use
PI is controlled, and d shaft currents giveI is fed back with d shaft currentsdAfter subtracting each other, U is given through PI controllers output d shaft voltagesd。
4. permanent-magnetism linear motor method of servo-controlling according to claim 3, it is characterised in that：The d shaft currents give
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| CN103368485A (en) * | 2012-03-28 | 2013-10-23 | 南京工程学院 | Multi-coordinate servo drive method and multi-coordinate servo drive device specific to medical imaging equipment |
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