CN107623473B - Position prediction control method for permanent magnet synchronous servo system - Google Patents
Position prediction control method for permanent magnet synchronous servo system Download PDFInfo
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- CN107623473B CN107623473B CN201710727012.8A CN201710727012A CN107623473B CN 107623473 B CN107623473 B CN 107623473B CN 201710727012 A CN201710727012 A CN 201710727012A CN 107623473 B CN107623473 B CN 107623473B
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Abstract
The invention discloses a position prediction control method of a permanent magnet synchronous servo system, which is characterized in that a speed loop, a current loop and a motor system of the servo control system are kept unchanged, a position loop is designed into a matrix controller, and the matrix controller is designed according to position errors aiming at position control.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a position prediction control method for a permanent magnet synchronous servo motor.
Background
In an automatic control system, a system in which an output quantity can be changed following a change in an input quantity with a certain accuracy is called a servo system. The servo system is composed of a servo driving device and a servo motor, and the servo system using the permanent magnet synchronous motor as the servo motor is called as a permanent magnet synchronous motor servo system.
The permanent magnet synchronous servo system is used as a basic key technology of a numerical control machine tool and an industrial robot, and plays a decisive role in technical indexes such as precision, speed and the like of the whole motion control system. In the prior art, a servo control system generally has three control methods, including a speed control method, a torque control method and a position control method; a widely used way is position control. There are two requirements for position control of a permanent magnet synchronous servo system: fast smooth transient response and small position following deviation; the position following deviation has two types, one is that in the initial stage of position following, the motor is in acceleration operation, and the following deviation is the speed dynamic following deviation, and the other is the speed steady state following deviation after the speed is stabilized. The two determinants of the following deviation are the gain of the position controller, and the larger the gain, the smaller the deviation of the position following. The gain setting of the position controller is related to the load dragged by the motor, and excessive gain causes mechanical shock and overshooting of the position control, which are not allowed. Reducing the gain can avoid the occurrence of mechanical shock and overshoot, but can increase the following deviation to affect the processing precision.
Disclosure of Invention
The invention aims to design a position ring into a matrix controller, design a predictive controller according to position errors, reflect dynamic effects in a control process, particularly adjust parameters of the controller on line in a big data on-line processing process, and improve the control efficiency of a servo motor.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a permanent magnet synchronous servo system position prediction control method keeps a speed loop, a current loop and a motor system of a servo control system unchanged, and designs a position loop into a matrix controller;
when the position given signal sent by the upper system is
Matrix controller output increment of Δ ωrm(k) The unit step signal is input at the input end, and when the response of the servo control system reaches a steady state, a group of position model parameter vectors [ a ] can be obtained1a2… aN]TThe method comprises the steps that N models a time domain, the time domain length of prediction output is assumed to be P, the time domain length is controlled to be M, N is equal to or more than P and equal to or more than M, and P is equal to or more than M and equal to 10 in the method;
when at time k, the matrix controller output increments by Δ ωrm(k) The matrix controller output value at the future time is obtained as
Then there are M increments Δ ω at time krm(k)，…，Δωrm(k + M-1) the matrix controller output value at each time in the future is obtained as
Wherein the content of the first and second substances,
in order to increase the dynamic stability of the servo control system and the realizability of the control input and reduce the calculated amount, the matrix controller outputs an increment delta omegarm(k) Decrease to P dimension then become
The matrix A is a constant matrix of P multiplied by M, reflects the dynamic characteristics of an object and is completely determined by step signal response parameters;
(2) in the formula (I), the compound is shown in the specification,
ΔWrm(k)＝[Δωrm(k)，Δωrm(k+1)，…，Δωrm(k+M-1)]T
Wrm(k-1)＝[ωrm(k-N+1)，ωrm(k-N+2)，…，ωrm(k-1)]T
while
The position prediction of the servo control system is determined by the dynamic response system of the servo control system and the matrix controller increment, such as taking
Given value of system, thetarmcov(k +1) is the predicted value after correction, then
The matrix controller increment optimization criterion is
Q＝diag(q1，q2，…，qP)
R＝diag(r1，r2，…，rM)
The diagonal matrices Q, R represent the error weight matrix and the control weight matrix, respectively, in the present invention, Q ═ diag (0, 0, 0, 0, 0, 1, 1, 1, 1, 1), R is the diagonal matrix, and the matrix controller is incremented by Δ ω mainlyrmConstraining, setting the initial value to zero, adjusting according to the input quantity in the control process, and expressing the output error as
In the formula, thetarm(k) Is the actual output value.
Prediction of the future by means of a modification of the weighting of the output error e (k +1)
In the formula, h is a feedback matrix for correcting errors, and a decimal between 0 and 1 can be taken generally;
from the formula (4), according to the constraint condition
The matrix controller increment is finally obtained
Wherein D isT＝(1，0，…，0)(ATQA+R)-1ATAnd Q, obtaining the matrix controller through calculation of the first row of the shift matrix.
The invention has the advantages that the position ring is designed into the matrix controller, and when the servo system carries out online processing on big data, the physical model of a system connected with the motor position controller is not needed to be relied on through continuous adjustment and optimization of online and offline data according to the controller. The invention provides a matrix controller model, which is easy to realize in the system.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet synchronous motor system;
FIG. 2 is a flow chart of a method for predicting and controlling the position of a permanent magnet synchronous servo motor according to the present invention.
Detailed Description
The technical solution of the present invention is described in detail below. The embodiments of the present invention are provided only for illustrating a specific structure, and the scale of the structure is not limited by the embodiments.
Referring to fig. 1 and 2, a typical three-closed-loop control is usually adopted for servo motor control, a permanent magnet synchronous motor model with vector decoupling under coordinate transformation is obtained from known literature as the following formula, and a system structure is shown in fig. 1; in FIG. 1, wherein Gp(s)、Gs(s) and Gi(s) position, velocity and current controllers for the servo motor, respectively;
the decoupling control permanent magnet synchronous motor model comprises the following steps: u'q＝npωrm(ψf+Laid)-uq，u′d＝ud+npωrmLaiqEach parameter being respectively
u′q、u′dVoltage components applied to the d and q coordinate winding impedances, respectively;
ωrmis the rotor mechanical angular velocity;
ψfa rotor flux linkage;
Laself-inductance of the stator winding;
id、iqd and q coordinate current components of the stator are obtained;
uq、udstator d, q coordinate voltage components;
the invention relates to a position prediction control method of a permanent magnet synchronous servo system, which keeps a speed loop, a current loop and a motor system of the servo control system unchanged, and designs a position loop into a matrix controller;
when the position given signal sent by the upper system is
Matrix controller output increment of Δ ωrm(k) The unit step signal is input at the input end, and when the response of the servo control system reaches a steady state, a group of position model parameter vectors [ a ] can be obtained1a2… aN]TThe method comprises the steps that N models a time domain, the time domain length of prediction output is assumed to be P, the time domain length is controlled to be M, N is equal to or more than P and equal to or more than M, and P is equal to or more than M and equal to 10 in the method;
when at time k, the matrix controller output increments by Δ ωrm(k) The matrix controller output value at the future time is obtained as
Then there are M increments Δ ω at time krm(k)，…，Δωrm(k + M-1) the matrix controller output value at each time in the future is obtained as
Wherein the content of the first and second substances,
in order to increase the dynamic stability of the servo control system and the realizability of the control input and reduce the calculated amount, the matrix controller outputs an increment delta omegarm(k) Decrease to P dimension then become
The matrix A is a constant matrix of P multiplied by M, reflects the dynamic characteristics of an object and is completely determined by step signal response parameters; (2) in the formula (I), the compound is shown in the specification,
ΔWrm(k)＝[Δωrm(k)，Δωrm(k+1)，…，Δωrm(k+M-1)]T
Wrm(k-1)＝[ωrm(k-N+1)，ωrm(k-N+2)，…，ωrm(k-1)]T
while
The position prediction of the servo control system is determined by the dynamic response system of the servo control system and the matrix controller increment, such as taking
Is a system toConstant value, thetarmcov(k +1) is the predicted value after correction, then
The matrix controller increment optimization criterion is
Q＝diag(q1，q2，…，qP)
R＝diag(r1，r2，…，rM)
Diagonal matrices Q, R represent the error weight matrix and the control weight matrix, respectively, where Q ═ diag (0, 0, 0, 0, 0, 1, 1, 1, 1, 1), R is the diagonal matrix, and the primary pair matrix controller increments Δ ωrmConstraining, making initial value zero, adjusting according to input quantity of matrix controller in control process, and expressing output error as
In the formula, thetarm(k) Is the actual output value;
prediction of the future by means of a modification of the weighting of the output error e (k +1)
In the formula, h is a feedback matrix for correcting errors, and a decimal between 0 and 1 can be taken generally;
from the formula (4), according to the constraint condition
Finally obtaining the final productTo matrix controller increments
Wherein D isT＝(1，0，…，0)(ATQA+R)-1ATAnd Q, obtaining the matrix controller through calculation of the first row of the shift matrix.
In addition, in FIG. 2, the accumulator can be represented as
where η is a scaling factor, based on the delta Δ ω input to the matrix controllerrmSize and subsequent control see fig. 1, mainly by speed control GsCurrent controller GiComposition, object being model of de-q-axis component under decoupled control, i.e. u'q＝npωrm(ψf+Laid)-uq。
Claims (2)
1. A permanent magnet synchronous servo system position prediction control method is characterized in that a speed loop, a current loop and a motor system of a servo control system are kept unchanged, and a position loop is designed into a matrix controller;
the matrix controller comprises the following steps:
when the position given signal sent by the upper system is
Matrix controller output increment of Δ ωrm(k) The unit step signal is input at the input end, and when the response of the servo control system reaches a steady state, a group of position model parameter vectors [ a ] can be obtained1a2…aN]TThe modeling time domain length is N, the time domain length output by prediction is assumed to be P, the time domain length is controlled to be M, and N is not less than P and not less than M;
when at time k, the matrix controller output increments by Δ ωrm(k) The matrix controller output value at the future time is obtained as
At time k, there are M increments Δ ωrm(k)，…，Δωrm(k + M-1) the matrix controller output value at each time in the future is obtained as
Wherein the content of the first and second substances,
in order to increase the dynamic stability of the servo control system and the realizability of the control input and reduce the calculated amount, the matrix controller outputs an increment delta omegarm(k) Decrease to P dimension then become
The matrix A is a constant matrix of P multiplied by M, reflects the dynamic characteristics of an object and is completely determined by step signal response parameters;
(2) in the formula (I), the compound is shown in the specification,
ΔWrm(k)＝[Δωrm(k)，Δωrm(k+1)，…，Δωrm(k+M-1)]T
while
The position prediction of the servo control system is determined by the dynamic response system of the servo control system and the matrix controller increment, and the theta is set* rm(k +1) is the rotor position given by the system, thetarmcov(k +1) is the predicted value after correction, then
The matrix controller increment optimization criterion is
Q＝diag(q1，q2，…，qP)
R＝diag(r1，r2，…，rM)
Diagonal matrices Q, R represent the error weight matrix and the control weight matrix, respectively, where Q ═ diag (0, 0, 0, 0, 0, 1, 1, 1, 1, 1), R is the diagonal matrix, and the primary pair matrix controller increments Δ ωrmConstraining, setting the initial value to zero, adjusting according to the input quantity in the control process, and expressing the output error as
In the formula, thetarm(k) Is the actual output value;
prediction of the future by means of a modification of the weighting of the output error e (k +1)
In the formula, h is a feedback matrix for correcting errors, and a decimal between 0 and 1 can be taken generally;
is obtained according to the constraint condition from the formula (4)
The matrix controller increment is finally obtained
Wherein D isT＝(1，0，…，0)(ATQA+R)-1ATAnd Q, obtaining the matrix controller through calculation of the first row of the shift matrix.
2. The method as claimed in claim 1, wherein the time domain length of the prediction output is P, the control time domain length is M, and P-M-10 is taken.
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| CN104270055A (en) * | 2014-09-24 | 2015-01-07 | 武汉科技大学 | Parameter self-correcting method of position loop IP controller of alternating current servo system |
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Address after: Hong Yip Road Jiaxing city Zhejiang province 314001 Xiuzhou Industrial Zone No. 228 Shanghai Jiaotong University (Jiaxing) science and Technology Park Building 6, 3 floor Patentee after: Zhejiang Deou Electric Technology Co.,Ltd. Address before: Hong Yip Road Jiaxing city Zhejiang province 314001 Xiuzhou Industrial Zone No. 228 Shanghai Jiaotong University (Jiaxing) science and Technology Park Building 6, 3 floor Patentee before: ZHEJIANG DEALOUR ELECTRIC TECHNOLOGY Co.,Ltd. |