CN106788059B - The delay compensation method of high dynamic electric motor servo-controlled system - Google Patents
The delay compensation method of high dynamic electric motor servo-controlled system 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
The invention discloses a kind of delay compensation methods of high dynamic electric motor servo-controlled system comprising the steps of: obtains the motor movement status information of current control period sampling instant；Obtain the motor movement status information at previous control periodic sampling moment；The motor space control vector at next control periodic sampling moment is compensated according to the motor movement status information of current control period sampling instant and the motor movement status information at previous control periodic sampling moment, completes the compensation of delay of high dynamic electric motor servo-controlled system.The present invention calculates error by reducing electric machine control system data caused by program computation delay, to be effectively improved electric steering engine high dynamic response performance and improve the efficiency of motor；By using the system of three closed loop of position ring, speed ring and electric current loop, Electrodynamic Rudder System high dynamic stability contorting is realized.
Description
Technical field
The present invention relates to the motor control technology fields for being applied to electric steering engine servo-system, and in particular to a kind of high dynamic
The delay compensation method of motor servo control system.
Background technique
With the development of electric machines control technology and power electronic technique, motor used in electric steering engine servo-system is gradually
Develop from direct current generator to ac synchronous motor.Magneto has the advantages that small in size, high-efficient, loss is low, is very suitable to
High-precision electric steering engine SERVO CONTROL field.In actual application, electric steering engine requires motor in zero-speed and most high speed
Meet high frequency dynamic response requirement between degree, conventional control algorithm is difficult that motor is made not only to have met low speed steadily to control but also meet high frequency
Dynamic response, it usually needs some optimize and revise is done to control algolithm for actual condition.
Electric machine control system itself is inertial delay system, with the raising of control instruction frequency and amplitude, feedback response
Amplitude will appear biggish decaying and obvious lag occurs in phase, and method in the prior art eliminates system delay for electricity
Therefore the influence of dynamic steering gear system high frequency dynamic response needs to improve.
Summary of the invention
The purpose of the present invention is to provide a kind of delay compensation methods of high dynamic electric motor servo-controlled system, pass through reduction
Electric machine control system data caused by program computation delay calculate error, to be effectively improved electric steering engine high dynamic response performance
With the efficiency for improving motor；By using the system of three closed loop of position ring, speed ring and electric current loop, realize that Electrodynamic Rudder System is high
Dynamic Stability Control.
In order to achieve the above object, the invention is realized by the following technical scheme:
A kind of delay compensation method of high dynamic electric motor servo-controlled system, its main feature is that comprising the steps of:
Obtain the motor movement status information at previous control periodic sampling moment；
Obtain the motor movement status information of current control period sampling instant；
According to the motor movement status information and current control period sampling instant at previous control periodic sampling moment
Motor movement status information compensates the motor space control vector at next control periodic sampling moment, completes high dynamic
The compensation of delay of motor servo control system.
The motor movement status information at the previous control periodic sampling moment includes previous control periodic sampling
The motor rotor position information at moment, the rotor rotary speed information at previous control periodic sampling moment and previous control week
The phase current information of phase sampling instant.
The motor movement status information of the current control period sampling instant includes current control period sampling instant
Motor rotor position information, current control period sampling instant rotor rotary speed information and current control period sample when
The motor phase current information at quarter.
Described compensates comprising to next the motor space control vector at next control periodic sampling moment
The motor rotor position information at control periodic sampling moment compensates and to next motor phase for controlling the periodic sampling moment
Current information compensates.
Described compensates using following formula the motor rotor position information at next control periodic sampling moment:
Δ t=t (n)-t (n-1)
In formula, t (n) indicates current control period sampling instant, and t (n-1) indicates previous control periodic sampling moment, Δ
T indicates preset power tube switch periods, i.e. control period,Indicate that digital signal processor runs control algolithm solution
Result is calculated when acting on motor, the desired locations in next control periodic sampling moment t (n+1) of rotor, i.e., to working as
Rotor-position after preceding rotor position compensation, θ (n) indicate the rotor position that current control period sampling instant samples
It sets, ω (n) indicates that the rotor revolving speed that current control period sampling instant samples, ω (n-1) indicate previous control
Periodic sampling moment t (n-1) samples obtained rotor revolving speed.
The calculation formula of the rotor lag angle is as follows:
Δ θ=6*10-6P*n*Δt
N=P* ω
In formula, Δ θ indicates the electrical angle that rotor turns in a control period, and Δ t indicates that preset power tube is opened
The period is closed, i.e. the control period, P indicates the number of pole-pairs of motor, and n indicates that the revolving speed of motor, ω indicate the electrical angle speed of rotor
Degree.
Described compensates using following formula the motor phase current information at next control periodic sampling moment:
In formula, vx(n) be it is two neighboring control periodic sampling moment (t (n-1) and t (n)) x (x=a, b, c) phase electricity
The incremental rate of machine phase current, vx(n-1) be it is two neighboring control periodic sampling moment (t (n-2) and t (n-1)) x (x=a,
B, the c) incremental rate of the electric machine phase current of phase,It is the motor phase electricity of next control period t (n+1) sampling instant
The desired value of stream passes through compensated electric machine phase current value,Respectively through overfill
The desired value of the electric machine phase current of a, b, c three-phase after repaying, the sum that size should meet three-phase phase current is zero, ixIt (n) is to work as
The information for the electric machine phase current that preceding control period t (n) sampling instant samples, i (n-1) is previous control period t (n-1)
The information for the electric machine phase current that sampling instant samples, aiIt (n) is that current control period t (n) sampling instant samples
The change rate of electric machine phase current incremental rate.
A kind of delay compensation method of high dynamic electric motor servo-controlled system of the present invention has following compared with prior art
Advantage: the present invention considers the influence made up due to program operation delay for motor control performance, reduces high frequency motion time control
Rotor position error caused by system delay；The present invention participates in the phase current precision of algorithm operation when improving high frequency response；This hair
Bright to keep the control vector for acting on electric system more accurate, the motor feels hot when reducing high frequency response, improves steering gear system
Efficiency；Present invention improves dynamic properties when high frequency response, improve the amplitude-frequency characteristic of motor under the conditions of same frequency.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the delay compensation method of high dynamic electric motor servo-controlled system of the present invention；
Fig. 2 is the schematic diagram of motor space vector control algorithm；
Fig. 3 is the variation relation schematic diagram of sampled data and revolving speed；
Fig. 4 is mathematical model schematic diagram of the motor under DQ coordinate system.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of delay compensation method of high dynamic electric motor servo-controlled system comprising the steps of:
S1, the motor movement status information for obtaining current control period sampling instant.
S2, the motor movement status information for obtaining the previous control periodic sampling moment.
S3, the motor movement status information according to current control period sampling instant and previous control periodic sampling moment
Motor movement status information the motor space control vector at next control periodic sampling moment is compensated, complete high dynamic
The compensation of delay of state motor servo control system.
High dynamic motor Frequency conversion control needs the accurate phase current information of motor and rotor position information.It is specific next
Say, motor control compensation of delay mainly the sample information of motor rotor position is compensated and electric machine phase current sample information into
Row compensation, basic principle are as follows: electric machine control system is the digital display circuit (motor numerical control device) based on sampling for being continuously
The control of system (actual motor).Electric system parameters be it is continuous (such as electric machine phase current data, rotor position data,
Torque data etc.), then sampling of the digital display circuit to continuous system carries out certain algorithm process, finally realizes for continuous
The control of system.Signal processor has periodically (noncontinuity) operation of algorithm, which makes sampled data
(the phase current data i of motora、ibThe duty cycle data of power tube switch is resolved with motor rotor position data θ) and space vector
Between at least there is the (delay (do not include system hardware be delayed) of Δ t) of a control period.Error caused by the delay, usually
Leading to control inaccuracy, heating efficiency reduces when causing motor high frequency dynamic response, delayed phase is serious and amplitude attenuation is larger,
To affect the performance of steering gear system.
As shown in Fig. 2, steering gear system motor space vector control algorithm schematic diagram, steering gear system uses position ring, speed
The system of degree ring and three closed loop of electric current loop is controlled, and wherein position ring is the instruction of steering gear system given position and position feedback structure
At closed loop, Δ p be steering gear system position closed loop departure (i.e. steering gear system desired locations instruction and physical location feedback deviation
Signal).Δ p is after proportional integration is adjusted, reference value ω of the output quantity as motor speed closed loop*.Speed ring realizes steering engine
System quickly adjusts the purpose of motor according to position error signal, it is expected rotational speed omega by rotor*It is inclined with rotor-position feedback speed
Difference does proportion adjustment, and inputs output quantity as the expectation of current closed-loopElectric current loop uses id=0 Frequency conversion control
Mode.As can be seen from Figure 1 entire control algolithm operation needs to acquire the phase current data i of motora(n)、ib(n) and rotor
Position data θ (n) and motor speed are ω (n).
Under the conditions of fixed sample interval of delta t (control period), current control period t (n) sampling instant and next control
There are errors between period t (n+1) sampling instant anticipatory data, and this delay time error can become with the raising of revolving speed
Greatly, as shown in Figure 3.
With reference to Fig. 4, phase current data ia(n)、ib(n) and the rotor position data θ (n) at current time carries out space vector
Coordinate transform can obtain mathematical model i of the motor under DQ coordinate systemd(n)、iq(n), resultant current vector is i at this times(n)。
The switching vector selector for needing to calculate next control period t (n+1) sampling instant of power tube according to current data, then acts on electricity
Machine.It is assumed that motor is stationary, control period t (n+1) sampling instant and the motor model weight for controlling period t (n) sampling instant
It closes, the power tube switching vector selector that motor is calculated according to the sampled data of current control period t (n) sampling instant, which acts on, to be protected
It is optimal to demonstrate,prove motor performance, torque is maximum, and high-efficient fever is small.And the high frequency dynamic response of actually motor is to the every dynamic of motor
Index request is higher, and steering engine has the ability of quick trace command, it is desirable that motor is adjusted with faster speed, while electromagnetic force
Square can play maximum effect, and the motor feels hot for reduction.When the adjustment of revolving speed change dramatically, when current control period t (n) is sampled
When the sampled data at quarter acts on motor by operation, rotor has moved to next control period t (n+1) sampling
Position (motor model corresponding to dotted line in Fig. 4) where moment.Present sample data participate in motor Frequency conversion control and calculate
There are the delays of at least one control period Δ t for method operation, output result and sampling instant, when be easy to causeing rotor high frequency motion
Fever and delayed phase, therefore the power tube switching vector selector that current data calculates cannot be such that motor performance is optimal.
It is as follows that rotor lags electrical angle calculation method:
Δ θ=6*10-6P*n*Δt
N=P* ω
In formula, Δ θ indicates the electrical angle that rotor turns in a control period, and Δ t indicates that preset power tube is opened
The period is closed, i.e. the control period, P indicates the number of pole-pairs of motor, and n indicates that the revolving speed of motor, ω indicate the electrical angle speed of rotor
Degree.
Such as motor number of pole-pairs is 2, under the conditions of revolving speed 12000r/min, the control period is 100us, and a control period prolongs
When lag 14.4 ° of electrical angle errors.The control switch period Δ t of power of motor pipe is normally controlled in tens microseconds to several hundred microseconds
Between, it is set according to requirement of engineering.
Bring error is lagged in order to make up the sampled data of current period, the present invention carries out more the information that acquisition comes
It mends, according to the continuity of electric system parameter, data is carried out to current time t (n) sampled data and are made up, the method is as follows:
Firstly, being turned according to the motor of current control period t (n) sampling instant and previous control period t (n-1) sampling instant
Fast data and position data are to the compensation of delay of motor rotor position, using following formula:
Δ t=t (n)-t (n-1)
In formula, t (n) indicates current control period sampling instant, and t (n-1) indicates previous control periodic sampling moment, Δ
T indicates preset power tube switch periods, i.e. control period,Indicate that digital signal processor operation control algolithm resolves
When as a result acting on motor, the desired locations in next control periodic sampling moment t (n+1) of rotor, i.e., to current
The compensated rotor-position of rotor-position, θ (n) indicate the motor rotor position that current control period sampling instant samples,
ω (n) indicates that the rotor revolving speed that current control period sampling instant samples, ω (n-1) indicate the previous control period
Sampling instant t (n-1) samples obtained rotor revolving speed.
When motor speed is lower, since the control period is fixed value, next control moment t (n+1) rotor position
The desired value set and current control moment t (n) rotor-position relatively, can ignore error caused by lagging due to rotor,
When revolving speed is higher, there are larger gaps, i.e. sampled data and actual physics for the desired value and motor rotor position of rotor-position
There is delays to lag between amount.The delay will lead between operation result and expected result there are large error, so as to cause
Motor applicator, delayed phase are very fast, and amplitude attenuation is serious.
Reference data of the phase current data as electric current loop, there are the errors at least one control period.Meanwhile phase current
Data and motor rotor position data must match, and can just obtain accurate motor control vector.
The motor phase current information at next control periodic sampling moment is compensated using following formula:
In formula, vx(n) be it is two neighboring control periodic sampling moment (t (n-1) and t (n)) x (x=a, b, c) phase electricity
The incremental rate of machine phase current, vx(n-1) be it is two neighboring control periodic sampling moment (t (n-2) and t (n-1)) x (x=a,
B, the c) incremental rate of the electric machine phase current of phase,It is the motor phase electricity of next control period t (n+1) sampling instant
The desired value of stream passes through compensated electric machine phase current value,Respectively through overcompensation
The desired value of the electric machine phase current of a, b, c three-phase afterwards, the sum that size should meet three-phase phase current is zero, ixIt (n) is current
The information for the electric machine phase current that control period t (n) sampling instant samples, i (n-1) is that previous control period t (n-1) is adopted
The information for the electric machine phase current that sample instance sample obtains, ai(n) it is electricity that current control period t (n) sampling instant samples
The change rate of machine phase current incremental rate.
Motor three-phase current is realized by coordinate transform and is decoupled, just by the phase current and motor rotor position for obtaining motor
Torque it is expected in obtaining motor.It is converted into based on ABC coordinate system three-phase current based on rotor orientation DQ coordinate system direct current flow,
Realize Current Decoupling.Formula is as follows:
It realizes electric machine phase current decoupling, analogy direct current generator pressure regulation can be converted by complicated AC Motor Control problem
The control mode of speed regulation and adjustment torque.The real-time control of motor torque is realized by the size of DC current under control DQ coordinate system
System.
The calculation formula of electromagnetic torque is as follows:
In formula, p indicates the number of pole-pairs of motor, ψdIndicate the d axis magnetic linkage of motor, ψqIndicate the d axis magnetic linkage of motor, usual feelings
Magnetic linkage and rotor magnetic linkage are approximately equal under condition, and are a constant constant.
The speed adjusting performance of motor can with the principle of analogy direct current generator variable voltage control, by adjusting the duty ratio of power tube,
Realize motor speed adjustment.Motor adjusts voltage U under DQ axial coordinated, UqIt is by DC current departure by pid algorithm solution
Calculate gained.DC voltage amount Ud, UqVoltage vector U under three-phase motor ABC coordinate system is calculated by SVPWM algorithma, Ub, Uc。
Ua, Ub, UcThere is linear corresponding relation with the duty ratio of three-phase bridge.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of delay compensation method of high dynamic electric motor servo-controlled system, which is characterized in that comprise the steps of:
Obtain the motor movement status information at previous control periodic sampling moment；
Obtain the motor movement status information of current control period sampling instant；
According to the motor of the motor movement status information at previous control periodic sampling moment and current control period sampling instant
Movement state information compensates the motor space control vector at next control periodic sampling moment, completes high dynamic motor
The compensation of delay of servo-control system；
Described compensates comprising to next control the motor space control vector at next control periodic sampling moment
The motor rotor position information at periodic sampling moment compensates and to next electric machine phase current for controlling the periodic sampling moment
Information compensates；
Wherein, the motor phase current information to next control periodic sampling moment is compensated using following formula:
In formula, vx(n) be it is two neighboring control periodic sampling moment (t (n-1) and t (n)) x (x=a, b, c) phase motor phase
The incremental rate of electric current, vxIt (n-1) is the two neighboring x (x=a, b, c) for controlling periodic sampling moment (t (n-2) and t (n-1))
The incremental rate of the electric machine phase current of phase,It is the electric machine phase current of next control period t (n+1) sampling instant
Desired value passes through compensated electric machine phase current value,Respectively by compensated
A, the desired value of the electric machine phase current of b, c three-phase, the sum that size should meet three-phase phase current is zero, ixIt (n) is currently to control
The information for the electric machine phase current that period t (n) sampling instant samples, ixIt (n-1) is previous control period t (n-1) sampling
The information for the electric machine phase current that instance sample obtains, ax(n) it is motor that current control period t (n) sampling instant samples
The change rate of phase current incremental rate, Δ t indicate preset power tube switch periods, i.e. control period.
2. delay compensation method as described in claim 1, which is characterized in that the previous control periodic sampling moment
Motor rotor position information of the motor movement status information comprising the previous control periodic sampling moment, previous control period adopt
The phase current information at the rotor rotary speed information at sample moment and previous control periodic sampling moment.
3. delay compensation method as described in claim 1, which is characterized in that the electricity of the current control period sampling instant
Machine movement state information includes the motor rotor position information of current control period sampling instant, current control period sampling instant
Rotor rotary speed information and current control period sampling instant motor phase current information.
4. delay compensation method as described in claim 1, which is characterized in that described to next control periodic sampling moment
Motor rotor position information compensate using following formula:
Δ t=t (n)-t (n-1)
In formula, t (n) indicates current control period sampling instant, and t (n-1) indicates the previous control periodic sampling moment,
Indicate digital signal processor operation control algolithm calculation result when acting on motor, rotor in next control period
The desired locations of sampling instant t (n+1), i.e., to the rotor-position after current rotor position compensation, θ (n) indicates current control week
The motor rotor position that phase sampling instant samples, ω (n) indicate the motor that current control period sampling instant samples
Rotor speed, ω (n-1) indicate that previous control periodic sampling moment t (n-1) samples obtained rotor revolving speed.
5. delay compensation method as claimed in claim 4, which is characterized in that the calculating of the rotor lag angle is public
Formula is as follows:
Δ θ=6*10-6P*n*Δt
N=P* ω
In formula, Δ θ indicates the electrical angle that rotor turns in a control period, and Δ t indicates preset power tube switch week
Phase, i.e. control period, P indicate the number of pole-pairs of motor, and n indicates that the revolving speed of motor, ω indicate the electrical angular speed of rotor.
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| CN108155837B (en) * | 2018-01-09 | 2019-12-06 | 中国铁路总公司 | time delay obtaining method and device for permanent magnet motor control system |
| CN109586633B (en) * | 2018-11-30 | 2020-09-18 | 北京精密机电控制设备研究所 | Rudder speed and position accurate control method of electromechanical static pressure servo system |
| CN109802622A (en) * | 2019-03-11 | 2019-05-24 | 江苏罗宾康自动化科技有限公司 | A kind of compensation of delay device based on low switching frequency control |
| CN112671279B (en) * | 2019-10-16 | 2022-07-12 | 美的威灵电机技术（上海）有限公司 | Position correction device, method and storage medium |
| CN111342724B (en) * | 2020-02-17 | 2022-03-04 | 珠海格力电器股份有限公司 | Adaptive torque compensation control method and device, compressor and air conditioning equipment |
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| CN102904520A (en) * | 2012-10-09 | 2013-01-30 | 华东建筑设计研究院有限公司 | Current predictive control method of permanent magnet synchronous motor |
| JP2014220938A (en) * | 2013-05-09 | 2014-11-20 | 三菱電機株式会社 | Motor control device |
| CN105811840A (en) * | 2016-04-22 | 2016-07-27 | 徐辉 | Dead-beat current control method for permanent magnet synchronous servo motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102904520A (en) * | 2012-10-09 | 2013-01-30 | 华东建筑设计研究院有限公司 | Current predictive control method of permanent magnet synchronous motor |
| JP2014220938A (en) * | 2013-05-09 | 2014-11-20 | 三菱電機株式会社 | Motor control device |
| CN105811840A (en) * | 2016-04-22 | 2016-07-27 | 徐辉 | Dead-beat current control method for permanent magnet synchronous servo motor |
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