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
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- 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
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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 embodiment of the invention relates to the technical field of motor control, in particular to a setting method of speed ring control parameters and a motor control unit.
Background
Proportional-integral-derivative (PID) controllers have been known for over half a century since their introduction, and PID controllers are now widely used in various control fields. One of the most important problems in the PID control is the parameter setting problem of the controller, i.e. the setting of three parameters (proportional coefficient, integral time, differential time), and the good loop of the setting not only affects the control quality, but also affects the robustness of the controller.
In a servo system, system parameter changes (such as changes in load torque or rotational inertia) can seriously affect the control effect of the system, and the dynamic response performance of the system is deteriorated or even oscillation is generated. In order to ensure that the servo system still has good dynamic and static performances after the parameters of the servo system change, the parameters of the controller need to be self-tuned.
The servo system has a position control function and a speed control function, and respectively corresponds to a position loop and a speed loop of the servo, so that the control parameters of the two loops directly determine the position and speed control performance of the servo.
The inventor finds that at least the following problems exist in the prior art: the prior art discloses that parameters of a speed loop PI controller in a servo system speed PI controller can be simplified into the following formula (A), so that the speed loop control parameters can be adjusted through the simplified formula (A):
wherein, KisDenotes the integral coefficient, KpsExpressing the proportionality coefficient, J being the moment of inertia, KTIs a torque constant, ωscDetermining the phase angle margin for the coefficient u for the open loop cut-off frequency of the speed loopu is defined as follows:
wherein, ω iscIn order to be the current loop bandwidth,to a phase angle margin, KisAs integral coefficient, ωscIs the speed loop open loop cutoff frequency.
Wherein,for a margin of phase angle, ωscFor the open loop cut-off frequency of the velocity loop, KisIs an integral coefficient.
However, in the prior art, a stiffness coefficient is generally used to define a set of speed loop open-loop cut-off frequencies, for example, the stiffness coefficient varies from 0 to 31, which is equivalent to the stiffness coefficient varies in 32 steps, and at the same time, the speed loop open-loop cut-off frequency also varies in 32 steps in a range of, for example, 1Hz to 5000 Hz. As can be seen from formula (a), the velocity loop also depends on the inertia and the expected bandwidth, and the accuracy of inertia identification cannot be fully guaranteed. For example, when the load inertia is small, the inertia recognition result is greatly affected by the cogging torque, and an accurate total inertia may not be recognized. When the inertia is inaccurate or the mathematical model is not accurate enough, the optimal speed loop PI parameters can not be obtained by adopting the fixed sets of open loop cut-off frequencies to adapt to all load conditions, so that the stability and the rapidity of the speed loop are optimal.
Disclosure of Invention
The purpose of the embodiments of the present invention is to provide a method for setting a speed loop control parameter and a motor control unit, which can obtain a more accurate speed loop control parameter by traversing a finer speed loop open-loop cutoff frequency and a finer coefficient u, so that a set controller can better adapt to various load conditions without depending on an accurate inertia and an accurate mathematical model, and the stability and the rapidity of a speed loop are better.
To solve the above technical problem, an embodiment of the present invention provides a method for setting a speed loop control parameter, where the method is used to determine a speed loop open-loop cutoff frequency ωscAnd a target value for the coefficient u; sequentially obtaining L sets of setting parameters; wherein L is an integer greater than a preset value; each set of setting parameters comprises a speed ring open loop cut-off frequency omegascValue ofAnd a coefficient u; respectively obtaining speed errors corresponding to the L sets of setting parameters; obtaining the minimum value of the speed errors corresponding to the L sets of setting parameters; the open loop cut-off frequency omega of the speed loop corresponding to the minimum value of the speed errorscAnd the value of the coefficient u is taken as the speed loop open loop cut-off frequency omegascAnd a target value for the coefficient u.
An embodiment of the present invention also provides a motor control unit including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of tuning a speed loop control parameter as previously described.
Compared with the prior art, the method and the device have the advantages that L sets of setting parameters and the speed errors corresponding to the sets of setting parameters are obtained in sequence, and then the speed ring open loop cut-off frequency omega corresponding to the minimum value of the speed errors is usedscAnd the value of the coefficient u as the speed loop open loop cutoff frequency ωscAnd a target value of the coefficient u, thereby realizing the setting of the speed loop control parameter. Therefore, since the minimum value of the speed error in the present embodiment is obtained after traversing more setting parameters, the performance of the system corresponding to the obtained minimum value of the speed error can be closer to the optimal performance that can be achieved by the system, and therefore, based on the setting method in the present embodiment, a more accurate speed loop open-loop cutoff frequency ω is obtainedscAnd a coefficient u, a better speed ring control parameter can be obtained, so that the set controller can better adapt to various load conditions, and the stability and the rapidity of the speed ring are better. Meanwhile, the minimum value of the speed error is obtained in a traversal mode, so that the minimum value of the speed error is closer to the minimum value of the speed error which can be actually achieved by a system, and therefore more accurate control parameters can be obtained without depending on the accuracy of inertia and an accurate mathematical model. The embodiment has simple calculation and easy operationIs suitable for popularization and application.
In addition, the sequentially obtaining L sets of setting parameters specifically includes: obtaining the cut-off frequency omega of the open loop of the speed loopscAnd a second initial value of said coefficient u; sequentially increasing the second initial value to the maximum value of the coefficient u for the first initial value; increasing the speed loop open loop cutoff frequency omegascAnd for the increased speed loop open loop cut-off frequency omegascSequentially increasing the second initial value to the maximum value of the coefficient u; wherein each coefficient u obtained by increment is corresponding to the speed ring cut-off frequency omegascRespectively forming a group of setting parameters; repeatedly executing the increasing speed loop open loop cut-off frequency omegascAnd for the increased speed loop open loop cut-off frequency omegascAnd sequentially increasing the second initial value to the maximum value of the coefficient u until the L sets of setting parameters are obtained. By increasing omega in the tuning parameter from small to largescAnd the coefficient u can ensure that the motor can stably run in the setting process.
In addition, the increasing speed loop open loop cutoff frequency ω is performed at the repetitionscAnd for the increased speed loop open loop cut-off frequency omegascSequentially increasing the second initial value to the maximum value of the coefficient u until the L sets of tuning parameters are obtained, further comprising: when the speed loop open loop cut-off frequency omegascAnd when the maximum value is obtained, taking the obtained setting parameters as the L sets of setting parameters.
In addition, the increasing speed loop open loop cutoff frequency ω is performed at the repetitionscAnd for the increased speed loop open loop cut-off frequency omegascSequentially increasing the second initial value to the maximum value of the coefficient u until the L sets of tuning parameters are obtained, further comprising: and when a preset condition is detected, taking the setting parameters obtained when the preset condition is detected as the L sets of setting parameters. Thereby improving the flexibility of the setting process.
In addition, the preset condition is abnormal sound of the motor or the feedback current is larger than a preset current value. Therefore, overcurrent or damage of the motor in the setting process can be avoided.
In addition, the preset current value is a stable current value of a preset multiple.
In addition, the preset multiple is greater than or equal to 1.2 and less than or equal to 1.3.
In addition, the obtaining of the speed errors corresponding to the L sets of setting parameters respectively specifically includes: inputting a sine wave speed instruction for each set of setting parameters, calculating to obtain the sum of absolute values of speed errors at P moments, and taking the sum of absolute values as the speed error; wherein, the P is an integer larger than 1.
In addition, the frequency of the sine wave is more than or equal to 1Hz and less than or equal to 300 Hz, and the amplitude is more than or equal to 1% of the rated rotating speed of the motor and less than or equal to 10% of the rated rotating speed of the motor.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a flow chart of a method of setting a speed loop control parameter according to a first embodiment of the present invention;
fig. 2 is a flow chart of a method of setting a speed loop control parameter according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the invention relates to a method for tuning a speed loop control parameter for determining a speed loop open loop cut-off frequency ωscAnd a target value for the coefficient u, such that the open loop cutoff frequency ω is looped according to the determined speedscAnd the target value of the coefficient u initializes the speed loop control parameter. The core of the embodiment lies in that L sets of setting parameters are obtained in sequence, and each set of setting parameters comprises a speed ring open-loop cut-off frequency omegascA value and a coefficient u. Wherein L is an integer greater than a predetermined value. If the predetermined value is 100, L is an integer greater than 100, and L is 150, for example. In practical application, the value of L can be determined according to the cut-off frequency omega of the open loop of the speed loopscAnd determining the value range of the coefficient u, and traversing the cut-off frequency omega of the open loop of the speed loopscAnd each value in the value range of the coefficient u, more accurate open loop cut-off frequency omega of the speed loop can be obtainedscAnd a target value for the coefficient u. The value of L is not particularly limited in this embodiment. Respectively obtaining speed errors corresponding to the L sets of setting parameters, obtaining the minimum value of the speed errors corresponding to the L sets of setting parameters, and setting the open-loop cut-off frequency omega of the speed loop corresponding to the minimum value of the speed errorsscAnd the value of the coefficient u as the speed loop open loop cutoff frequency ωscAnd a target value for the coefficient u.
Compared with the prior art, the method and the device have the advantages that L sets of setting parameters and the speed errors corresponding to the sets of setting parameters are obtained in sequence, and then the speed ring open loop cut-off frequency omega corresponding to the minimum value of the speed errors is usedscAnd the value of the coefficient u as the speed loop open loop cutoff frequency ωscAnd a target value of the coefficient u, thereby realizing speed loop controlAnd (6) setting parameters. Therefore, since the minimum value of the speed error in the present embodiment is obtained after traversing more setting parameters, the performance of the system corresponding to the obtained minimum value of the speed error can be closer to the optimal performance that can be achieved by the system, and therefore, based on the setting method in the present embodiment, a more accurate speed loop open-loop cutoff frequency ω is obtainedscAnd a coefficient u, a better speed ring control parameter can be obtained, so that the set controller can better adapt to various load conditions, and the stability and the rapidity of the speed ring are better. Meanwhile, the minimum value of the speed error is obtained in a traversal mode, so that the minimum value of the speed error is closer to the minimum value of the speed error which can be actually achieved by a system, and therefore more accurate control parameters can be obtained without depending on the accuracy of inertia and an accurate mathematical model. The method is simple in calculation and easy to popularize and apply.
The implementation details of the speed loop control parameter tuning method according to the present embodiment are specifically described below, and the following description is only provided for the convenience of understanding, and is not necessary for implementing the present solution.
As shown in fig. 1, a flowchart of a method for setting a speed loop control parameter according to the present embodiment is shown. The setting method comprises the following steps: 101 to step 109.
Step 101: obtaining a velocity loop open loop cutoff frequency omegascAnd a second initial value of the coefficient u.
The first initial value and the second initial value can be set by referring to formula (a) in the prior art, and are not described in detail herein. For example, the speed loop open loop cutoff frequency ωscMay be 20Hz and the second initial value of the coefficient u may be 0. In the present embodiment, the first initial value and the second initial value are not particularly limited in size.
Step 102: increasing the current value of the coefficient u results in an incremented coefficient u.
Wherein the system can beThe value of the number u is increased by 2, and the coefficient u is increased by the same value in step 102 each time, so that each set of tuning parameters obtained by the method aim at the open-loop cutoff frequency omega of the same speed ringscThe value of the coefficient u increases in an equal manner. However, in the present embodiment, the magnitude of the value to which the coefficient u increases is not particularly limited, and whether the value to which the coefficient u increases a plurality of times is the same is not particularly limited.
For example, when the speed loop open loop cut-off frequency ωscEqual to 20hz and the coefficient u equal to 0, the value of the coefficient u is increased by 2 for each execution of step 102, so that after 5 executions of step 102, the coefficients u are respectively 2, 4, 6, 8, 10.
Step 103: according to the current omegascAnd the incremented coefficient u yields the speed loop control parameter.
Namely, the speed loop control parameter is obtained according to formula (a) in the prior art.
Step 104: and inputting a sine wave speed command, calculating to obtain the sum of absolute values of speed errors at P moments, and taking the sum of the absolute values as the speed error.
After a sine wave speed command is input, the motor can be controlled to operate according to the input command. The frequency of the sine wave in the input sine wave speed command can be more than or equal to 1Hz and less than or equal to 300 Hz, and the amplitude can be more than or equal to 1% and less than or equal to 10% of the rated rotating speed of the motor. For example, the sine wave has a frequency of 50 Hz and an amplitude of 50rpm (i.e., 50rpm), and the sine wave is not particularly limited in this embodiment. Therefore, the requirement for the motor rotation speed in the setting process is very low in the present embodiment.
In this embodiment, P may be an integer greater than 1, and in practical applications, P may be greater than or equal to 50 and less than or equal to 100. The size of P is not particularly limited in the present embodiment. The speed errors at more moments are collected, and the sum of the absolute values of the speed errors is used as the speed error, so that the obtained speed errors can reflect the actual running condition of the motor. The calculation method of the speed error at each time is well known to those skilled in the art and will not be described herein.
Step 105: and judging whether the coefficient u is the maximum value. If the coefficient u is the maximum value, step 106 is executed, and if the coefficient u has not reached the maximum value, steps 102 to 105 are repeatedly executed until the coefficient u is the maximum value.
For example, the maximum value of the coefficient u is 10, and the initial value of the coefficient u is 0. Thus, the coefficient u reaches a maximum value every 5 times step 102 is performed. In the present embodiment, the maximum value of the coefficient u is not particularly limited.
Step 106: increase omegascAnd obtaining the increased omegascThe recovery coefficient u is the second initial value.
For example, the speed loop open loop cutoff frequency ω can be setscIs increased by 20Hz (hertz), and in step 106 ω isscEach increment being the same value. However, this embodiment is for ωscThe magnitude of the increased value is not particularly limited, and ω isscWhether the values of the plurality of increments are the same or not is not particularly limited.
Step 107: judgment of omegascWhether it is the maximum value. If ω isscAt maximum, step 108 is executed, if ω isscIf the maximum value has not been reached, the steps 102 to 107 are repeated until ω is reachedscIs the maximum value.
For example, ωscIs a maximum of 1000 hz. The present embodiment deals with ωscThe maximum value of (b) is not particularly limited.
The above steps 101 to 107 are "obtaining the open loop cut-off frequency ω of the velocity loopscThe first initial value and the second initial value of the coefficient u, the second initial value is sequentially increased to the maximum value of the coefficient u aiming at the first initial value, and the open loop cut-off frequency omega of the speed loop is increasedscAnd for an increased speed loop open loop cut-off frequency omegascSequentially increasing the second initial value to the maximum value of the coefficient u, wherein the increasing is obtainedEach coefficient u of (a) and the corresponding speed loop cut-off frequency omegascRespectively forming a group of setting parameters. Increasing the speed loop open loop cutoff frequency ω repeatedly performedscAnd for an increased speed loop open loop cut-off frequency omegascAnd sequentially increasing the second initial value to the maximum value of the coefficient u until L sets of setting parameters are obtained. "provides a specific scheme. It should be noted that, in practical application, L sets of setting parameters may also be obtained in advance through an iterative process from step 101 to step 107, and the L sets of setting parameters are stored in the motor control unit, and in the setting process, the L sets of setting parameters are sequentially read one by one, and the minimum value of the speed error corresponding to the L sets of setting parameters is obtained. Therefore, in the present embodiment, the obtaining manner of the L sets of tuning parameters in the tuning process is not particularly limited.
In the present embodiment, the open loop cutoff frequency ω of the velocity loop is assumedscIs taken from a first initial value to the cut-off frequency omega of the open loop of the speed loopscThe maximum value of (b) is M, and the value of the coefficient u is N from the second initial value to the maximum value of the coefficient u. Wherein M, N are each integers greater than 1. Through steps 101 to 107, it is easy to find that L of the L sets of tuning parameters is equal to the product of M and N, that is, the present embodiment traverses the same number of sets of tuning parameters as the product of M and N.
The present embodiment opens the speed loop to the cut-off frequency ωscAnd taking the setting parameters obtained when the maximum value is obtained as L sets of setting parameters. The following description of the L sets of tuning parameters by way of example is as follows:
speed loop open loop cut-off frequency omegascIs 20Hz and the maximum value is 1000Hz, and the second initial value of the coefficient u is 0 and the maximum value is 10. When the speed loop opens the loop cut-off frequency omegascWhen the frequency is equal to 20Hz, the coefficient u is increased to 10 by repeatedly executing the steps 102 to 105, so as to obtain 5 sets of setting parameters, namely, (20, 2), (20, 4), (20, 6), (20, 8) and (20, 10), and when the coefficient u is increased to 10, the step 106 of executing the open-loop cutoff frequency omega of the speed ring is executedscIncreasing to 40Hz, and then repeating step 105 of step 102 untilBy the time the coefficient u increases to 10 again, a second 5 sets of tuning parameters are obtained, namely (40, 2), (40, 4), (40, 6), (40, 8), (40, 10), and so on, up to the speed loop open loop cutoff frequency ωscAnd increasing the number to 1000, ending the cycle, wherein the obtained setting parameters are the L sets of setting parameters needing to be obtained.
In the present embodiment, the speed loop open-loop cutoff frequency ω of the L sets of tuning parametersscIs periodically increased, and in each set of setting parameters in each period, the coefficient u is also increased, but in practical application, the speed loop open-loop cut-off frequency omega in the L sets of setting parameters is increasedscAnd the coefficient u may also adopt different changing rules, which is not particularly limited in this embodiment.
Step 108: and obtaining the minimum value of the speed errors corresponding to the L sets of setting parameters.
For example, the first speed error obtained may be compared with the next adjacent speed error in sequence to obtain a smaller speed error, and then the smaller speed error may be compared with the next speed error until all the speed errors participate in the comparison, so as to obtain the minimum value of the speed error. Wherein the minimum value of the speed error reflects the optimal value of the control parameter in the setting process.
Step 109: the open loop cut-off frequency omega of the speed loop corresponding to the minimum value of the speed errorscAnd the value of the coefficient u as the speed loop open loop cutoff frequency ωscAnd a target value for the coefficient u.
Obtaining the cut-off frequency omega of the open loop of the speed loopscAnd obtaining the set speed ring control parameter according to the formula (A) after the target value of the coefficient u is obtained.
Compared with the prior art, the method traverses the open-loop cutoff frequency omega of the speed loop in a larger value range in an iteration modescAnd is a systemThe number u is the minimum value of the speed error obtained on the basis of the number u, which is closer to the minimum speed error which can be actually achieved by the system, that is, the minimum value of the speed error obtained in the embodiment reflects a better speed loop control parameter, so that the speed loop control parameter obtained by using the minimum value of the speed error can enable the set controller to better adapt to various load conditions, and the stability and the rapidity of the speed loop are better. The method does not depend on accurate inertia and an accurate mathematical model, is simple in calculation and is easy to popularize and apply.
A second embodiment of the present invention relates to a method for setting a speed loop control parameter. The second embodiment is an improvement on the first embodiment, and the main improvements are as follows: in the second embodiment, a condition for obtaining the minimum value of the speed error is further defined, that is, when a specific condition occurs in the motor, the traversal to the open-loop cut-off frequency ω of the speed loop is stoppedscThe maximum value of the motor is obtained, so that the damage to the motor in the setting process can be avoided, and the setting efficiency can be improved.
As shown in fig. 2, the method for tuning the speed loop control parameter according to the present embodiment includes steps 201 to 210. Steps 201 to 204 are the same as steps 101 to 104, step 206 is the same as step 106, and steps 208 to 209 are the same as steps 108 to 109, respectively, and are not repeated herein.
Step 205: and judging whether the coefficient u is the maximum value. If the coefficient u is the maximum value, step 206 is executed, and if the coefficient u has not reached the maximum value, steps 202 to 205 and step 210 are repeatedly executed until the coefficient u is the maximum value.
Step 207: judgment of omegascWhether it is the maximum value. If ω isscAt the maximum, step 208 is performed, if ω isscIf the maximum value has not been reached, the steps 202 to 107 and 210 are repeated until ω is reachedscIs the maximum value.
I.e. at the open loop cut-off frequency omega with the speed loopscAndin the process of increasing the coefficient u, step 210 is continuously performed.
It should be noted that step 210 may also be performed only at the open-loop cutoff frequency ω of the speed loopscThe step u is executed when the coefficient u is increased, or when the coefficient u is increased, and the present embodiment is not particularly limited to the execution manner of the step 210.
Step 210: judging whether a preset condition is detected or not, if the preset condition is detected, jumping out of the step 208 of executing the circulation, if the preset condition is not detected, entering the step 202, and continuously traversing omegascAnd a coefficient u.
The preset condition may be, for example, abnormal sound of the motor or a feedback current greater than a preset current value. The preset current value may be, for example, a stable current value of a preset multiple. The preset multiple may be, for example, 1.2 or more and 1.3 or less. In this embodiment, the preset condition and the related parameters of the preset condition are not particularly limited. In practical applications, appropriate preset conditions may be set according to the characteristics of the motor itself.
Compared with the previous embodiment, the embodiment can avoid overcurrent of the motor or damage of the motor in the setting process. In addition, under the condition of abnormal sound or overcurrent of the motor, the obtained speed error is generally not the minimum error, so that traversing of the setting parameters can be finished in advance, and the setting efficiency is improved.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to a motor control unit including: the system includes at least one processor, and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of tuning a speed loop control parameter according to the first embodiment or the second embodiment.
The processor may be a Programmable Logic Controller (PLC) or a single chip, and the processor is not particularly limited in this embodiment.
Compared with the prior art, the method traverses the open-loop cutoff frequency omega of the speed loop in a larger value range in an iteration modescAnd a coefficient u, wherein the minimum value of the speed error obtained on the basis is closer to the minimum speed error which can be actually achieved by the system, namely, the minimum value of the speed error obtained in the embodiment reflects a better speed ring control parameter, so that the speed ring control parameter obtained by using the minimum value of the speed error can enable the set controller to better adapt to various load conditions, and the stability and the rapidity of the speed ring are better. The method does not depend on accurate inertia and an accurate mathematical model, is simple in calculation and is easy to popularize and apply.
Where the memory and processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting together one or more of the various circuits of the processor and the memory. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.
It should be understood that this embodiment is an example of a controller corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A setting method of speed ring control parameters is characterized in that the setting method is used for determining the open-loop cut-off frequency omega of a speed ringscAnd a target value for the coefficient u;
sequentially obtaining L sets of setting parameters; wherein L is an integer greater than a preset value; each set of setting parameters comprises a speed ring open loop cut-off frequency omegascA value and a coefficient u;
respectively obtaining speed errors corresponding to the L sets of setting parameters;
obtaining the minimum value of the speed errors corresponding to the L sets of setting parameters;
the open loop cut-off frequency omega of the speed loop corresponding to the minimum value of the speed errorscAnd the value of the coefficient u is taken as the speed loop open loop cut-off frequency omegascAnd a target value for the coefficient u.
2. The method for setting the speed loop control parameter according to claim 1, wherein the sequentially obtaining L sets of setting parameters specifically comprises:
obtaining the cut-off frequency omega of the open loop of the speed loopscAnd a second initial value of said coefficient u;
sequentially increasing the second initial value to the maximum value of the coefficient u for the first initial value;
increasing the speed loop open loop cutoff frequency omegascAnd for the increased speed loop open loop cut-off frequency omegascSequentially increasing the second initial value to the maximum value of the coefficient u; wherein each coefficient u obtained by increment is corresponding to the speed ring cut-off frequency omegascRespectively forming a group of setting parameters;
repeatedly executing the increasing speed loop open loop cut-off frequency omegascAnd for the increased speed loop open loop cut-off frequency omegascAnd sequentially increasing the second initial value to the maximum value of the coefficient u until the L sets of setting parameters are obtained.
3. The method of setting a speed loop control parameter according to claim 2, wherein, in the repeatedly performing the increasing of the value of the speed loop open-loop cutoff frequency u and sequentially increasing the second initial value to the maximum value of the coefficient u for the increased speed loop open-loop cutoff frequency u until obtaining the L sets of setting parameters, further comprising:
when the speed loop open loop cut-off frequency omegascAnd when the maximum value is obtained, taking the obtained setting parameters as the L sets of setting parameters.
4. The method of setting a speed loop control parameter of claim 2, wherein said increasing a speed loop open loop cutoff frequency ω is performed at said repeatingscAnd for the increased speed loop open loop cut-off frequency omegascSequentially increasing the second initial value to the maximum value of the coefficient u until the L sets of tuning parameters are obtained, further comprising:
and when a preset condition is detected, taking the setting parameters obtained when the preset condition is detected as the L sets of setting parameters.
5. The method for setting the speed loop control parameter according to claim 4, wherein the preset condition is abnormal sound of the motor or a feedback current greater than a preset current value.
6. The method of claim 5, wherein the preset current value is a preset multiple of a steady current value.
7. The method for setting a speed loop control parameter according to claim 6, wherein the predetermined multiple is greater than or equal to 1.2 and less than or equal to 1.3.
8. The method for setting the speed loop control parameter according to claim 1, wherein the obtaining the speed errors corresponding to the L sets of setting parameters respectively specifically includes:
inputting a sine wave speed instruction for each set of setting parameters, calculating to obtain the sum of absolute values of speed errors at P moments, and taking the sum of absolute values as the speed error; wherein, the P is an integer larger than 1.
9. The method for setting the speed ring control parameter of claim 8, wherein the frequency of the sine wave is greater than or equal to 1Hz and less than or equal to 300 Hz, and the amplitude is greater than or equal to 1% and less than or equal to 10% of the rated rotation speed of the motor.
10. A motor control unit, comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of tuning a speed loop control parameter as claimed in any one of claims 1 to 9.
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