CN107528513A - The setting method and motor control unit of speed ring control parameter - Google Patents
The setting method and motor control unit of speed ring control parameter Download PDFInfo
- Publication number
- CN107528513A CN107528513A CN201710853128.6A CN201710853128A CN107528513A CN 107528513 A CN107528513 A CN 107528513A CN 201710853128 A CN201710853128 A CN 201710853128A CN 107528513 A CN107528513 A CN 107528513A
- Authority
- CN
- China
- Prior art keywords
- speed ring
- frequency
- value
- coefficient
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present embodiments relate to motor control technology field, discloses a kind of setting method and motor control unit of speed ring control parameter.The setting method is used to determine speed ring open-loop cut-off frequency ωscAnd coefficient u desired value；It includes：L group setting parameters are obtained successively；Wherein, L is the integer more than default value；Every group of setting parameter includes a speed ring open-loop cut-off frequency ωscValue and a coefficient u；Respectively obtain the velocity error corresponding to L group setting parameters；Obtain the minimum value of the velocity error corresponding to L group setting parameters；By the speed ring open-loop cut-off frequency ω corresponding to the minimum value of velocity errorscAnd coefficient u value is as speed ring open-loop cut-off frequency ωscAnd coefficient u desired value.Present embodiment can allow the controller after adjusting to better adapt to various loading conditions in the case of independent of accurate inertia and accurate mathematical modeling, and the stability of speed ring and rapidity are more preferably.
Description
Technical field
The present embodiments relate to the setting method and electricity of motor control technology field, more particularly to speed ring control parameter
Machine control unit.
Background technology
PID (Proportion Integration Differentiation, PID) controller is from appearance
So far after over half a century, nowadays PID controller is widely used in each control field.PID
The problem of one most important in control is the parameter tuning problem of controller, i.e. three parameters are (proportionality coefficient, the time of integration, micro-
Between timesharing) adjust, the good ring adjusted not only influences whether to control quality, and also affects the robustness of controller.
In servo-drive system, system parameter variations (change of such as load torque or rotary inertia), which may have a strong impact on, is
The control effect of system, system dynamic response performance is caused to deteriorate or even produce vibration.In order to ensure to occur in servo parameter
After change, servo-drive system still has good dynamic and static state performance, need to carry out Self-tuning System to controller parameter.
Servo-drive system all possesses position control function and speed controlling function, corresponds to the position ring and speed of servo respectively
Ring, therefore, the control parameter of the two loops also just directly determine position and the speed control performance of servo.
Inventor has found that at least there are the following problems in the prior art：Prior art discloses servo-drive system speed PI controls
The parameter of device medium velocity ring PI controllers can be reduced to below equation (A), so as to by simplified formula (A) to speed ring control
Parameter processed is adjusted：
Wherein, KisRepresent integral coefficient, KpsProportionality coefficient is represented, J is rotary inertia, KTFor torque constant, ωscFor speed
Ring open-loop cut-off frequency is spent, coefficient u determines Phase marginU is defined as follows：
Wherein, ωcFor electric current loop bandwidth,For Phase margin, KisFor integral coefficient, ωscFor speed ring open loop cutoff frequency
Rate.
Wherein,For Phase margin, ωscFor speed ring open-loop cut-off frequency, KisFor integral coefficient.
However, prior art is typically all to define one group of speed ring open-loop cut-off frequency with stiffness coefficient, such as rigidly
Coefficient changes to 31 from 0, equivalent to stiffness coefficient be in 32 gear changes, meanwhile, speed ring open-loop cut-off frequency is also in example
Such as in the range of 1Hz to 5000Hz points of 32 gear changes.From formula (A), speed ring also relies on inertia and desired bandwidth,
And the accuracy of inertia identification can not be guaranteed completely.For example, in load inertia very little, inertia identification result is by teeth groove
Torque has a great influence, and can may not recognize accurate total inertia.And during inertia inaccuracy, or mathematical modeling is not accurate enough
When, using several groups of open-loop cut-off frequencies of foregoing fixation, optimal speed ring PI parameters may can not be all obtained to adapt to
Some loading conditions so that the stability and rapidity of speed ring are all optimal.
The content of the invention
The purpose of embodiment of the present invention is the setting method and motor control list for providing a kind of speed ring control parameter
Member, controlled by traveling through the i.e. available more accurate speed ring of more fine speed ring open-loop cut-off frequency and coefficient u
Parameter, so as to cause that the controller after adjusting can in the case of independent of accurate inertia and accurate mathematical modeling
To better adapt to various loading conditions, and the stability of speed ring and rapidity are more preferably.
In order to solve the above technical problems, embodiments of the present invention provide a kind of side of adjusting of speed ring control parameter
Method, the setting method are used to determine speed ring open-loop cut-off frequency ωscAnd coefficient u desired value；L groups are obtained successively to adjust
Parameter；Wherein, the L is the integer more than default value；Every group of setting parameter includes a speed ring open-loop cut-off frequency ωsc
Value and a coefficient u；Respectively obtain the velocity error corresponding to the L groups setting parameter；Obtain the L groups setting parameter institute
The minimum value of corresponding velocity error；By the speed ring open-loop cut-off frequency ω corresponding to the minimum value of the velocity errorscWith
And coefficient u value is as the speed ring open-loop cut-off frequency ωscAnd coefficient u desired value.
Embodiments of the present invention additionally provide a kind of motor control unit, including：At least one processor；And with
The memory of at least one processor communication connection；Wherein, have can be by least one processing for the memory storage
The instruction that device performs, the instruction is by least one computing device, so that at least one processor is able to carry out
The setting method of foregoing speed ring control parameter.
Embodiment of the present invention in terms of existing technologies, is adjusted by obtaining L groups setting parameter and each group successively
Velocity error corresponding to parameter, then by the speed ring open-loop cut-off frequency ω corresponding to the minimum value of velocity errorscAnd
Coefficient u value is as speed ring open-loop cut-off frequency ωscAnd coefficient u desired value, so as to realize speed ring control parameter
Adjust.Therefore, because the minimum value of the velocity error of present embodiment has been obtained on the basis of more setting parameters have been traveled through
Arrive, so the performance of the system corresponding to the minimum value of the obtained velocity error be able to can reach most closer to system
Dominance energy, therefore, the setting method based on present embodiment, obtaining more accurate speed ring open-loop cut-off frequency ωscWith
And during coefficient u, more excellent speed ring control parameter can be obtained, so that the controller after adjusting can better adapt to respectively
Kind loading condition, and the stability of speed ring and rapidity are more preferably.Meanwhile present embodiment obtains speed by traversal mode
The minimum value of error so that the velocity error minimum value that the minimum value of velocity error can actually reach closer to system, therefore
Need not rely on the accuracy and the i.e. available more accurately control parameter of accurate mathematical modeling of inertia.Present embodiment meter
Calculate simple, application easy to spread.
In addition, described obtain L group setting parameters successively, specifically include：Obtain the speed ring open-loop cut-off frequency ωsc's
Second initial value of the first initial value and the coefficient u；It is for first initial value, second initial value is incremented by successively to described
Coefficient u maximum；Push the speed ring open-loop cut-off frequency ωscValue, and for increase after the speed ring open loop cut-off
Frequencies omegasc, by second initial value coefficient u maximum；Wherein, each coefficient u incrementally obtained with it is right
The speed ring cut-off frequency ω answeredscRespectively constitute one group of setting parameter；Repeat the ring open-loop cut-off frequency of pushing the speed
ωscValue, and for increase after the speed ring open-loop cut-off frequency ωsc, second initial value is incremented by successively to described
Coefficient u maximum, until obtaining the L groups setting parameter.By increasing the ω in setting parameter from small to largescAnd coefficient
U, motor even running in tuning process can make it that.
In addition, repeat the ring open-loop cut-off frequency ω that pushes the speed describedscValue, and for increase after institute
State speed ring open-loop cut-off frequency ωsc, by second initial value coefficient u maximum, until obtaining
State in L group setting parameters, in addition to：As the speed ring open-loop cut-off frequency ωscFor maximum when, the setting parameter that will obtain
As the L groups setting parameter.
In addition, repeat the ring open-loop cut-off frequency ω that pushes the speed describedscValue, and for increase after institute
State speed ring open-loop cut-off frequency ωsc, by second initial value coefficient u maximum, until obtaining
State in L group setting parameters, in addition to：When detecting preparatory condition, ginseng is adjusted by what is obtained when detecting the preparatory condition
Number is used as the L groups setting parameter.So as to improve the flexibility of tuning process.
In addition, the preparatory condition, which is motor abnormal sound or feedback current, is more than pre-set current value.It is whole so as to avoid
Motor overcurrent or damage during fixed.
In addition, the pre-set current value is the stabling current value of preset multiple.
In addition, the preset multiple is more than or equal to 1.2 and less than or equal to 1.3.
In addition, the velocity error respectively obtained corresponding to the L groups setting parameter, is specifically included：It is whole for every group
Determine parameter, input sine wave speed command, and the absolute value sum for the velocity error inscribed at P is calculated, will be described exhausted
To value sum as the velocity error；Wherein, the P is the integer more than 1.
In addition, the frequency of the sine wave is more than or equal to 1 hertz and less than or equal to 300 hertz, amplitude is more than or equal to described
Rated motor rotating speed 1% and less than or equal to the Rated motor rotating speed 10%.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in accompanying drawing are expressed as similar element, removed
Non- have a special statement, and composition does not limit the figure in accompanying drawing.
Fig. 1 is the flow chart according to the setting method of first embodiment of the invention speed ring control parameter；
Fig. 2 is the flow chart according to the setting method of second embodiment of the invention speed ring control parameter.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order that reader more fully understands the application and proposes many ins and outs.But even if without these ins and outs
With many variations based on following embodiment and modification, the application technical scheme claimed can also be realized.
The first embodiment of the present invention is related to a kind of setting method of speed ring control parameter, for determining that speed ring is opened
Ring cut-off frequency ωscAnd coefficient u desired value, so as to the speed ring open-loop cut-off frequency ω according to determinationscAnd coefficient u
Desired value initialization speed ring control parameter.The core of present embodiment is to obtain L group setting parameters successively, and every group is adjusted
Parameter includes a speed ring open-loop cut-off frequency ωscValue and a coefficient u.Wherein, L is the integer more than default value.
Default value is, for example, 100, then L is the integer more than 100, and L is, for example, 150.In actual applications, L value can basis
Speed ring open-loop cut-off frequency ωscAnd coefficient u span determines, is traveling through speed ring open-loop cut-off frequency ωscWith
And after each numerical value in coefficient u span, more accurate speed ring open-loop cut-off frequency ω can be obtainedscAnd it is
Number u desired value.Present embodiment is not specifically limited for L value.Respectively obtain the speed corresponding to L group setting parameters
Error, the minimum value of the velocity error corresponding to L group setting parameters is obtained, by the speed ring corresponding to the minimum value of velocity error
Open-loop cut-off frequency ωscAnd coefficient u value is as speed ring open-loop cut-off frequency ωscAnd coefficient u desired value.
Embodiment of the present invention in terms of existing technologies, is adjusted by obtaining L groups setting parameter and each group successively
Velocity error corresponding to parameter, then by the speed ring open-loop cut-off frequency ω corresponding to the minimum value of velocity errorscAnd
Coefficient u value is as speed ring open-loop cut-off frequency ωscAnd coefficient u desired value, so as to realize speed ring control parameter
Adjust.Therefore, because the minimum value of the velocity error of present embodiment has been obtained on the basis of more setting parameters have been traveled through
Arrive, so the performance of the system corresponding to the minimum value of the obtained velocity error be able to can reach most closer to system
Dominance energy, therefore, the setting method based on present embodiment, obtaining more accurate speed ring open-loop cut-off frequency ωscWith
And during coefficient u, more excellent speed ring control parameter can be obtained, so that the controller after adjusting can better adapt to respectively
Kind loading condition, and the stability of speed ring and rapidity are more preferably.Meanwhile present embodiment obtains speed by traversal mode
The minimum value of error so that the velocity error minimum value that the minimum value of velocity error can actually reach closer to system, therefore
Need not rely on the accuracy and the i.e. available more accurately control parameter of accurate mathematical modeling of inertia.Present embodiment meter
Calculate simple, application easy to spread.
Details, which is specifically described, to be realized to the setting method of the speed ring control parameter of present embodiment below, with
Lower content only realizes details for convenience of what understanding provided, not implements the necessary of this programme.
As shown in figure 1, the flow chart of the setting method for the speed ring control parameter of present embodiment.The setting method bag
Include step：101 to step 109.
Step 101：Acquisition speed ring open-loop cut-off frequency ωscThe first initial value and coefficient u the second initial value.
Wherein, the first initial value and the second initial value may be referred to formula of the prior art (A) setting, no longer detailed herein
State.For example, speed ring open-loop cut-off frequency ωscThe first initial value can be 20Hz, coefficient u the second initial value can be 0.
Present embodiment is not specifically limited for the size of the first initial value and the second initial value.
Step 102：The enhancement coefficient u current coefficient u being worth to after being incremented by.
Wherein it is possible to coefficient u value is increased by 2, and coefficient u increases identical numerical value every time in step 102, so obtains
Each group setting parameter, for same speed ring open-loop cut-off frequency ωsc, coefficient u value is incremented by equivalent mode.However,
Present embodiment is not specifically limited for the size of the increased numerical value of coefficient u, and to more increased numerical value of coefficient u whether phase
It is same to be also not specifically limited.
For example, as speed ring open-loop cut-off frequency ωscWhen equal to 20 hertz and coefficient u is equal to 0, a hyposynchronization is often performed
Rapid 102, then coefficient u value increase by 2, so, after performing 5 steps 102, the coefficient u respectively obtained is 2,4,6,8,10.
Step 103：According to current ωscAnd the coefficient u after being incremented by obtains speed ring control parameter.
Speed ring control parameter is obtained according to formula of the prior art (A).
Step 104：Input sine wave speed command, and the absolute value sum for the velocity error inscribed at P is calculated,
Using absolute value sum as velocity error.
Wherein, can be operated after input sine wave speed command with controlled motor according to input instruction.The sinusoidal velocity of wave of input
The frequency of sine wave in degree instruction can be more than or equal to 1 hertz and less than or equal to 300 hertz, and amplitude can be more than or equal to electricity
Machine rated speed 1% and less than or equal to Rated motor rotating speed 10%.For example, the frequency of sine wave takes 50 hertz, amplitude takes
50 revolutions per minute (i.e. 50rpm), present embodiment is not specifically limited to sine wave.Therefore, present embodiment is in tuning process
The requirement of motor speed is very low.
In present embodiment, P can be the integer more than 1, in actual applications, P can be more than or equal to 50 and be less than etc.
In 100.Present embodiment is not specifically limited for P size.The velocity error inscribed during by gathering more, and its is exhausted
To value sum as velocity error so that obtained velocity error can more reflect the actual operating state of motor.Inscribed when each
The computational methods of velocity error are well known to those skilled in the art, and here is omitted.
Step 105：Whether judgement factor u is maximum.If coefficient u is maximum, step 106 is performed, if being
Number u not yet reaches maximum, then step 102 is repeated to step 105, until coefficient u is maximum.
For example, coefficient u maximum is 10, and coefficient u initial value is 0.Therefore, 5 steps 102 are often performed, are
Number u reaches maximum.Present embodiment is not specifically limited for coefficient u maximum.
Step 106：Increase ωscAnd the ω after being incremented bysc, recovery coefficient u is the second initial value.
For example, can be by speed ring open-loop cut-off frequency ωscValue increase 20Hz (hertz), and ω in step 106scOften
Secondary increase identical numerical value.However, present embodiment is for ωscThe size of increased numerical value is not specifically limited, and to ωsc
Repeatedly whether increased numerical value is identical is also not specifically limited.
Step 107：Judge ωscWhether it is maximum.If ωscFor maximum, then step 108 is performed, if ωscStill
Not up to maximum, then step 102 is repeated to step 107, until ωscFor maximum.
For example, ωscMaximum be 1000 hertz.Present embodiment is for ωscMaximum do not limit specifically
System.
Above-mentioned steps 101 to 107 are " acquisition speed ring open-loop cut-off frequency ωscThe first initial value and coefficient u second
Initial value, for the first initial value, by the second initial value maximum incremented by successively to coefficient u, push the speed ring open-loop cut-off frequency ωsc
Value, and for increase after speed ring open-loop cut-off frequency ωsc, by the second initial value maximum incremented by successively to coefficient u, its
In, each coefficient u and the corresponding speed ring cut-off frequency ω that incrementally obtainscRespectively constitute one group of setting parameter.Repeat increasing
Big speed ring open-loop cut-off frequency ωscValue, and for increase after speed ring open-loop cut-off frequency ωsc, by the second initial value according to
The secondary maximum for being incremented to coefficient u, until obtaining L group setting parameters." provide concrete scheme.It is noted that in reality
In, L group setting parameters can also be obtained beforehand through the iterative process of step 101 to step 107, and L groups are adjusted into ginseng
Number is stored into motor control unit, in tuning process, then is successively read L group setting parameters one by one, and obtain L group setting parameters
The minimum value of corresponding velocity error.Therefore, present embodiment is in tuning process, the acquisition modes of L group setting parameters
It is not specifically limited.
In present embodiment, it is assumed that speed ring open-loop cut-off frequency ωscValue from the first initial value to speed ring open loop cut
Only frequencies omegascShared M of maximum be worth, coefficient u value shares N number of value from the second initial value to coefficient u maximum.Its
In, M, N are the integer more than 1.By step 101 to step 107, it is seen that, in obtained L group setting parameters, L is equal to
M and N product, i.e. present embodiment have traveled through the setting parameter with the same number of group of number of M and N product.
Present embodiment is by speed ring open-loop cut-off frequency ωscSetting parameter to be obtained during maximum is adjusted as L groups
Parameter.L group setting parameters are described as follows below by citing：
Speed ring open-loop cut-off frequency ωscThe first initial value be 20Hz, and maximum is 1000Hz, coefficient u second at the beginning of
It is worth for 0, and maximum 10.As speed ring open-loop cut-off frequency ωscDuring equal to 20Hz, by repeating step 102 to step
105, coefficient u is increased to 10, so as to obtain 5 groups of setting parameters, i.e., (20,2), (20,4), (20,6), (20,8), (20,
10), when coefficient u increases to 10, step 106 is performed, by speed ring open-loop cut-off frequency ωsc40Hz is increased to, is then repeated
Perform the step 105 of step 102, until coefficient u is again increased to 10, now obtain second 5 groups of setting parameter, i.e., (40,
2), (40,4), (40,6), (40,8), (40,10), by that analogy, until speed ring open-loop cut-off frequency ωscIncrease to 1000,
Then end loop, the setting parameter now obtained as need obtained L group setting parameters.
It should be noted that in present embodiment, the speed ring open-loop cut-off frequency ω in L group setting parametersscIt is the cycle
Property it is incremental, and in each group setting parameter in each cycle, coefficient u is also incremented by, but in actual applications, and L groups are whole
Determine the speed ring open-loop cut-off frequency ω in parameterscAnd coefficient u can also use different changing rules, present embodiment pair
This is not specifically limited.
Step 108：Obtain the minimum value of the velocity error corresponding to L group setting parameters.
Such as can in sequence, by obtain first velocity error compared with adjacent next velocity error
And less velocity error is obtained, then by less velocity error compared with next velocity error, until all
Velocity error is involved in comparing, you can obtains the minimum value of velocity error, present embodiment is for the minimum value of velocity error
Acquisition modes are not specifically limited.Wherein, the minimum value of velocity error reflects the optimal of control parameter in this tuning process
Value.
Step 109：By the speed ring open-loop cut-off frequency ω corresponding to the minimum value of velocity errorscAnd coefficient u value
As speed ring open-loop cut-off frequency ωscAnd coefficient u desired value.
Obtaining speed ring open-loop cut-off frequency ωscAnd after coefficient u desired value, it can be obtained according to above-mentioned formula (A)
Speed ring control parameter to after adjusting.
Compared with prior art, present embodiment has been traveled through in larger span present embodiment by iterative manner
Speed ring open-loop cut-off frequency ωscAnd coefficient u, the minimum value of the velocity error obtained on this basis are actual closer to system
The minimum speed error that can reach, i.e. the minimum value of the velocity error obtained by present embodiment reflects more preferably speed
Ring control parameter, therefore, the speed ring control parameter being worth to using the minimum of velocity error can cause the control after adjusting
Device better adapts to various loading conditions, and the stability of speed ring and rapidity are more preferably.Present embodiment is independent of standard
True inertia and accurate mathematical modeling, calculate simple, application easy to spread.
Second embodiment of the present invention is related to a kind of setting method of speed ring control parameter.Second embodiment is
Improvement is made on the basis of one embodiment, is mainly theed improvement is that：In this second embodiment, further define to obtain
The condition of the minimum value of velocity error, i.e., when particular case occurs in motor, stop traversal to speed ring open-loop cut-off frequency ωsc
Maximum, so as to avoid damaging motor in tuning process, and the efficiency adjusted can be improved.
As shown in Fig. 2 the setting method of the speed ring control parameter of present embodiment includes step 201 to step 210.Its
In, step 201 to 204 corresponds to identical respectively with step 101 to step 104, and step 206 is identical with step 106, step 208 to
Step 209 corresponds to identical respectively with step 108 to step 109, and here is omitted.
Step 205：Whether judgement factor u is maximum.If coefficient u is maximum, step 206 is performed, if being
Number u not yet reaches maximum, then step 202 is repeated to step 205 and step 210, until coefficient u is maximum.
Step 207：Judge ωscWhether it is maximum.If ωscFor maximum, then step 208 is performed, if ωscStill
Not up to maximum, then step 202 is repeated to step 107 and step 210, until ωscFor maximum.
I.e. with speed ring open-loop cut-off frequency ωscAnd during coefficient u constantly increases, constantly to perform step
210。
It should be noted that step 210 can also be only in speed ring open-loop cut-off frequency ωscPerformed during increase, Huo Zhe
Coefficient u is performed when increasing, and present embodiment is not specifically limited for the executive mode of step 210.
Step 210：Judge whether to detect preparatory condition, if detecting preparatory condition, jump out circulation and perform step
208, if being not detected by preparatory condition, into step 202, continue to travel through ωscAnd coefficient u.
Wherein, preparatory condition for example can be that motor abnormal sound or feedback current are more than pre-set current value.Wherein, electricity is preset
Flow valuve for example can be the stabling current value of preset multiple.Preset multiple can for example be more than or equal to 1.2 and be less than or equal to 1.3.This
Embodiment is not specifically limited for the relevant parameter of preparatory condition and preparatory condition.In actual applications, Ke Yigen
According to the appropriate preparatory condition of the property settings of motor itself.
Present embodiment can avoid motor overcurrent or damage electricity in tuning process compared with aforementioned embodiments
Machine.Also, in the case of motor abnormal sound or overcurrent, obtained velocity error is generally not minimal error, so as to
Terminate to travel through setting parameter in advance, efficiency is adjusted in raising.
The step of various methods divide above, be intended merely to describe it is clear, can be merged into when realizing a step or
Some steps are split, are decomposed into multiple steps, as long as including identical logical relation, all protection domain in this patent
It is interior；To either adding inessential modification in algorithm in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
Third embodiment of the invention is related to a kind of motor control unit, and the motor control unit includes：At least one place
Manage device, and the memory being connected with least one processor communication.Wherein, have can be by least one processor for memory storage
The instruction of execution, instruct by least one computing device, so that at least one processor is able to carry out such as first embodiment
Or the setting method of the speed ring control parameter described in second embodiment.
Wherein, processor can be programmable logic controller (PLC) (Programmable Logic Controller, PLC)
Or single-chip microcomputer etc., present embodiment is not specifically limited for processor.
Compared with prior art, present embodiment has been traveled through in larger span present embodiment by iterative manner
Speed ring open-loop cut-off frequency ωscAnd coefficient u, the minimum value of the velocity error obtained on this basis are actual closer to system
The minimum speed error that can reach, i.e. the minimum value of the velocity error obtained by present embodiment reflects more preferably speed
Ring control parameter, therefore, the speed ring control parameter being worth to using the minimum of velocity error can cause the control after adjusting
Device better adapts to various loading conditions, and the stability of speed ring and rapidity are more preferably.Present embodiment is independent of standard
True inertia and accurate mathematical modeling, calculate simple, application easy to spread.
Wherein, memory is connected with processor using bus mode, and bus can include the bus of any number of interconnection
And one or more processors and the various of memory are electrically connected to together by bridge, bus.Bus can also will be such as peripheral
The various other of equipment, voltage-stablizer and management circuit or the like are electrically connected to together, and these are all well known in the art
, therefore, no longer it is described further herein.EBI provides interface between bus and transceiver.Transceiver
Can be an element or multiple element, such as multiple receivers and transmitter, there is provided for over a transmission medium with
The unit of various other device communications.The data handled through processor are transmitted on the radio medium by antenna, further,
Antenna also receives data and transfers data to processor.
Processor is responsible for bus and common processing, can also provide various functions, including regularly, peripheral interface,
Voltage-regulation, power management and other control functions.And memory can be used to store processor in execution operation when institute
The data used.
It is seen that present embodiment is the controller embodiment corresponding with first embodiment, present embodiment can
Worked in coordination implementation with first embodiment.The relevant technical details mentioned in first embodiment are in the present embodiment still
Effectively, in order to reduce repetition, repeat no more here.Correspondingly, the relevant technical details mentioned in present embodiment can also be applied
In the first embodiment.
It is noted that each module involved in present embodiment is logic module, and in actual applications, one
Individual logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude the innovative part of the present invention, will not be with solving institute of the present invention in present embodiment
The unit that the technical problem relation of proposition is less close introduces, but this is not intended that in present embodiment and other lists are not present
Member.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of setting method of speed ring control parameter, it is characterised in that the setting method is used to determine speed ring open loop
Cut-off frequency ωscAnd coefficient u desired value；
L group setting parameters are obtained successively；Wherein, the L is the integer more than default value；Every group of setting parameter includes a speed
Spend ring open-loop cut-off frequency ωscValue and a coefficient u；
Respectively obtain the velocity error corresponding to the L groups setting parameter；
Obtain the minimum value of the velocity error corresponding to the L groups setting parameter；
By the speed ring open-loop cut-off frequency ω corresponding to the minimum value of the velocity errorscAnd described in coefficient u value conduct
Speed ring open-loop cut-off frequency ωscAnd coefficient u desired value.
2. the setting method of speed ring control parameter according to claim 1, it is characterised in that described to obtain L groups successively
Setting parameter, specifically include：
Obtain the speed ring open-loop cut-off frequency ωscThe first initial value and the coefficient u the second initial value；
For first initial value, by second initial value coefficient u maximum；
Push the speed ring open-loop cut-off frequency ωscValue, and for increase after the speed ring open-loop cut-off frequency ωsc, will
The maximum of the second initial value coefficient u；Wherein, each coefficient u and the corresponding speed ring incrementally obtained
Cut-off frequency ωscRespectively constitute one group of setting parameter；
Repeat the ring open-loop cut-off frequency ω that pushes the speedscValue, and for increase after the speed ring open loop cut
Only frequencies omegasc, by second initial value coefficient u maximum, until obtaining the L groups setting parameter.
3. the setting method of speed ring control parameter according to claim 2, it is characterised in that repeat institute described
The value for the ring open-loop cut-off frequency u that pushes the speed is stated, and for the speed ring open-loop cut-off frequency u after increase, by described the
Two initial values coefficient u maximum, until obtaining in the L groups setting parameter, in addition to：
As the speed ring open-loop cut-off frequency ωscFor maximum when, adjust ginseng using obtained setting parameter as the L groups
Number.
4. the setting method of speed ring control parameter according to claim 2, it is characterised in that repeat institute described
State the ring open-loop cut-off frequency ω that pushes the speedscValue, and for increase after the speed ring open-loop cut-off frequency ωsc, by institute
The second initial value coefficient u maximum is stated, until obtaining in the L groups setting parameter, in addition to：
When detecting preparatory condition, ginseng is adjusted using the setting parameter obtained when detecting the preparatory condition as the L groups
Number.
5. the setting method of speed ring control parameter according to claim 4, it is characterised in that the preparatory condition is electricity
Machine abnormal sound or feedback current are more than pre-set current value.
6. the setting method of speed ring control parameter according to claim 5, it is characterised in that the pre-set current value is
The stabling current value of preset multiple.
7. the setting method of speed ring control parameter according to claim 6, it is characterised in that the preset multiple is more than
It is less than equal to 1.2 and equal to 1.3.
8. the setting method of speed ring control parameter according to claim 1, it is characterised in that it is described respectively obtain it is described
Velocity error corresponding to L group setting parameters, is specifically included：
For every group of setting parameter, input sine wave speed command, and the absolute value for the velocity error inscribed at P is calculated
Sum, using the absolute value sum as the velocity error；Wherein, the P is the integer more than 1.
9. the setting method of speed ring control parameter according to claim 8, it is characterised in that the frequency of the sine wave
More than or equal to 1 hertz and less than or equal to 300 hertz, amplitude is more than or equal to the 1% of Rated motor rotating speed and is less than or equal to the electricity
The 10% of machine rated speed.
A kind of 10. motor control unit, it is characterised in that including：At least one processor；And
The memory being connected with least one processor communication；Wherein,
The memory storage has can be by the instruction of at least one computing device, and the instruction is by least one place
Manage device to perform, so that at least one processor is able to carry out speed ring control as claimed in any one of claims 1-9 wherein
The setting method of parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853128.6A CN107528513A (en) | 2017-09-20 | 2017-09-20 | The setting method and motor control unit of speed ring control parameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853128.6A CN107528513A (en) | 2017-09-20 | 2017-09-20 | The setting method and motor control unit of speed ring control parameter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107528513A true CN107528513A (en) | 2017-12-29 |
Family
ID=60737213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710853128.6A Pending CN107528513A (en) | 2017-09-20 | 2017-09-20 | The setting method and motor control unit of speed ring control parameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107528513A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186969A (en) * | 2018-07-28 | 2019-01-11 | 西安交通大学 | A kind of servo feed movement dynamic property visible detection method |
| CN110824921A (en) * | 2019-11-13 | 2020-02-21 | 华中科技大学 | AC servo speed regulation system control parameter self-tuning method based on bat algorithm |
| CN113507238A (en) * | 2021-07-15 | 2021-10-15 | 哈尔滨工业大学 | Method and device for setting rigidity of double-ring servo system and double-ring servo system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103124158A (en) * | 2012-12-06 | 2013-05-29 | 华中科技大学 | Method for self-adjusting control parameters of speed ring of permanent magnet synchronous motor based on fractional orders |
| CN104635486A (en) * | 2015-01-28 | 2015-05-20 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Method and device for setting parameters of closed-loop PID (proportion integration differentiation) controller of gas turbine |
-
2017
- 2017-09-20 CN CN201710853128.6A patent/CN107528513A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103124158A (en) * | 2012-12-06 | 2013-05-29 | 华中科技大学 | Method for self-adjusting control parameters of speed ring of permanent magnet synchronous motor based on fractional orders |
| CN104635486A (en) * | 2015-01-28 | 2015-05-20 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Method and device for setting parameters of closed-loop PID (proportion integration differentiation) controller of gas turbine |
Non-Patent Citations (2)
| Title |
|---|
| 肖启明等: "PMSM伺服系统速度环PI控制器参数自整定及优化", 《电机与控制学报》 * |
| 陈鹏展等: "基于IITAE评价指标的交流伺服系统参数自动整定研究", 《微电机》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186969A (en) * | 2018-07-28 | 2019-01-11 | 西安交通大学 | A kind of servo feed movement dynamic property visible detection method |
| CN110824921A (en) * | 2019-11-13 | 2020-02-21 | 华中科技大学 | AC servo speed regulation system control parameter self-tuning method based on bat algorithm |
| CN113507238A (en) * | 2021-07-15 | 2021-10-15 | 哈尔滨工业大学 | Method and device for setting rigidity of double-ring servo system and double-ring servo system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8981702B2 (en) | Automated motor control | |
| CN107528513A (en) | The setting method and motor control unit of speed ring control parameter | |
| CN104165141B (en) | The controlling method of compressor and control gear | |
| US20130096695A1 (en) | Method for configuring a control device | |
| Padula et al. | optimization‐based fractional‐order PID controllers design | |
| CN103296940B (en) | Self-adaptive PI (proportional-integral) control method and self-adaptive PI control system | |
| CN106655938A (en) | Permanent magnet synchronous machine control system and permanent magnet synchronous machine control method based on high-order sliding mode method | |
| CA2587717C (en) | Computing method of motor model, motor simulation method, motor simulation apparatus, motor-model computing program, simulation method and simulation program | |
| CN109888776B (en) | Prediction method for sub-synchronous resonant frequency of direct-drive wind power plant and terminal equipment | |
| CN104730973A (en) | Motor control device | |
| WO2021109861A1 (en) | Electric motor control method and apparatus, terminal device, and storage medium | |
| CN111049447A (en) | Automatic calibration method, system and storage medium for MTPV (maximum Transmission Voltage) algorithm of permanent magnet synchronous motor | |
| JP2007306753A (en) | Method for adjusting parameters for notch filter, program, and motor controller | |
| Ortombina et al. | Constrained long-horizon direct model predictive control for synchronous reluctance motor drives | |
| CN109600092A (en) | A kind of monitoring of permanent-magnet synchronous motor rotor position and modification method, system and motor | |
| CN107979317A (en) | Permanent magnet synchronization motor spindle weak magnetic speed regulating method | |
| CN115276494A (en) | Decoupling control method, device, equipment and storage medium for permanent magnet synchronous motor | |
| CN116388214A (en) | Method and device for setting control parameters of grid-structured converter | |
| CN107707178A (en) | Filtering method, low pass filter and the servo-driver of low pass filter | |
| CN105122158A (en) | Programmable logic controller having low latency | |
| Šmídl et al. | Frequency spectrum shaping using finite control set MPC with LQ lookahead | |
| CN115001055B (en) | Multi-inverter parallel connection self-adaptive control method and device and multi-inverter parallel connection system | |
| CN105186951A (en) | Four-closed-loop stepping servo control method | |
| US20230059542A1 (en) | Method and device for tuning stiffness of servo system and servo system | |
| CN113507238B (en) | Method and device for setting rigidity of double-ring servo system and double-ring servo system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171229 |