CN108039845A - A kind of motor speed control method, apparatus and system - Google Patents
A kind of motor speed control method, apparatus and system Download PDFInfo
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- CN108039845A CN108039845A CN201711405764.9A CN201711405764A CN108039845A CN 108039845 A CN108039845 A CN 108039845A CN 201711405764 A CN201711405764 A CN 201711405764A CN 108039845 A CN108039845 A CN 108039845A
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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
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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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- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of motor speed control method, apparatus and system, by after being corrected to motor speed, at the same time by when the departure between the detection electric current and the scheduled current that detect motor reaches the second preset range, detection electric current to motor is corrected, so as to fulfill the correction to motor speed, this programme is by being corrected electric current, realize the correction to motor torque, so as to overcome influence of the motor torque ripple to photoelectric servo system in the prior art, the precision and stationarity for solving the problems, such as system in the prior art.
Description
Technical field
The present invention relates to control field, more particularly to a kind of motor speed control method, apparatus and system.
Background technology
Since direct current torque motor has the characteristics that the response time is fast, load capability is strong, torque coefficient is big, it is watched in photoelectricity
Increasingly extensive application has been obtained in dress system.Torque motor can increase system bandwidth with loading direct-coupled mode, add
Fast-response speed, but the torque fluctuations of motor can be also delivered in system, the influence to low-speed stability is especially prominent.
Classic control method is easy to Project Realization, and speed loop control object directly is reduced to two first order inertial loops
With a concussion link series connection, still, its suppression to disturbance quantity considers deficiency, causes photoelectric servo system in practical applications
It is vulnerable to interference of the torque fluctuations to photoelectric servo system of the interference of disturbance, especially motor, it is difficult to meet high-precision low speed
Requirement of the servo-drive system to precision and stationarity.
The content of the invention
In view of this, the present invention provides a kind of motor speed control method, apparatus and system, with solve in the prior art by
In interference of the torque fluctuations to photoelectric servo system of motor, the problem of causing the precision of system and stationarity to reduce, its is specific
Scheme is as follows：
A kind of motor speed control method, including：
When detecting that the departure between motor speed and predetermined speed reaches the first preset range, the motor is turned
Speed is corrected, and determines the output quantity of speed control；
Scheduled current is determined according to the output quantity of the speed control；
It is right when the departure between the detection electric current and the scheduled current that detect motor reaches the second preset range
The detection electric current of the motor is corrected, and determines the armature voltage of the motor；
The correction rotating speed of motor is determined according to the armature voltage of the motor.
Further, motor speed is detected, including：
Determine the position signal of motor；
Difference processing is carried out to the position signal, determines the motor speed.
Further, the armature voltage according to the motor determines the correction rotating speed of motor, including：
The armature supply of the motor is determined according to the armature voltage of the motor；
The back-emf of the motor is determined according to the armature supply of the motor；
The correction rotating speed of the motor is determined according to the back-emf of the motor.
Further, further include：
The armature supply of the motor is adjusted to pwm signal；
The adjustment for the motor, making the motor carry out rotating speed is sent after the pwm signal is isolated.
A kind of motor speed control device, including：Velocity correction unit, the first determination unit, current correction unit and
Two determination units, wherein：
It is pre- that the velocity correction unit is used to detect that the departure between motor speed and predetermined speed to reach first
When determining scope, the motor speed is corrected, determines the output quantity of speed control；
First determination unit is used to determine scheduled current according to the output quantity of the speed control；
The current correction unit is used for when the departure detected between electric current and the scheduled current for detecting motor
When reaching the second preset range, the detection electric current to the motor is corrected, and determines the armature voltage of the motor；
Second determination unit is used for the correction rotating speed that motor is determined according to the armature voltage of the motor.
Further, further include：Speed detection unit, wherein：
The speed detection unit is used for the position signal for determining motor, carries out difference processing to the position signal, really
The fixed motor speed.
Further, second determination unit is used for：
The armature supply of the motor is determined according to the armature voltage of the motor, it is true according to the armature supply of the motor
The back-emf of the fixed motor, the correction rotating speed of the motor is determined according to the back-emf of the motor.
Further, further include：Transmitting element, wherein：
The transmitting element is used to the armature supply of the motor being adjusted to pwm signal, by the pwm signal carry out every
From the rear adjustment for sending and to the motor, making the motor carry out rotating speed.
A kind of motor speed control system, including：Controller and driver, wherein：
The controller is used to detect motor speed, when detecting the departure between the motor speed and predetermined speed
When reaching the first preset range, the motor speed is corrected, determines the output quantity of speed control, according to the speed
The output quantity of controller determines scheduled current, when the motor detected by driver detection electric current and the scheduled current it
Between departure when reaching the second preset range, the detection electric current to the motor is corrected, and determines the armature of the motor
Voltage, the correction rotating speed of motor is determined according to the armature voltage of the motor, and is sent by the driver to the motor.
It can be seen from the above technical proposal that motor speed control method disclosed in the present application, apparatus and system, by working as
After being corrected to motor speed, while reached by the departure between detection electric current and the scheduled current of motor is detected
During the second preset range, the detection electric current to motor is corrected, and so as to fulfill the correction to motor speed, it is right that this programme passes through
Current correction is corrected, and realizes the correction to torque, so as to overcome the torque fluctuations of motor in the prior art to photoelectricity
The influence of servo-drive system, solves the problems, such as the precision and stationarity of system in the prior art.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of motor speed control method disclosed by the embodiments of the present invention；
Fig. 2 is a kind of motor speed control method the principle on which structure chart disclosed by the embodiments of the present invention；
Fig. 3 is the mathematical model that a kind of motor speed control method disclosed by the embodiments of the present invention is based on；
Fig. 4 is a kind of structure diagram of motor speed control device disclosed by the embodiments of the present invention；
Fig. 5 is a kind of structure diagram of motor speed control system disclosed by the embodiments of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
The invention discloses a kind of motor speed control method, its flow chart as shown in Figure 1, including：
Step S11, when detecting that the departure between motor speed and predetermined speed reaches the first preset range, to electricity
Machine rotating speed is corrected, and determines the output quantity of speed control；
Torque motor can increase the bandwidth of photoelectric servo system with loading direct-coupled mode, accelerate response speed,
But the torque fluctuations of motor can be delivered in photoelectric servo system, the influence to the low-speed stability of system is especially prominent.
The present embodiment sets speed ring to be corrected the rotating speed of motor first in order to solve the problems, such as this.
The position signal of motor is detected by Circular gratings, speed signal can be obtained by carrying out difference processing to position signal,
The speed signal as detects the rotating speed of obtained motor.
Wherein, Circular gratings can be：The Circular gratings of RENISHAW companies production, or the circle light of other companies production
Grid, are not specifically limited herein.
Wherein, the first preset range can be：One specific numerical value, such as：0, or other concrete numerical values.
When the first preset range is 0, i.e. motor speed needs are identical with predetermined speed, as long as it is different, that is, need pair
Motor speed is corrected, only when the motor speed numerical value identical with predetermined speed is identical, just without to motor speed into
Row correction；
When the first preset range is other numerical value, which includes a minimum value and a maximum,
Such as：[- 2 ,+2], as long as the difference that is, between motor speed and desired speed is the value more than -2, and less than+2, then without to electricity
Machine rotating speed is corrected, otherwise, it is necessary to be corrected to motor speed.
Motor speed is corrected, can be specially：Motor speed is adjusted to the numerical value identical with predetermined speed,
Can be：Motor speed is adjusted to the deviation between predetermined speed and is less than a certain predictive error value.
After being corrected to motor speed, an output valve is obtained, which is the output quantity of speed control,
The output quantity of the speed control is not the rotating speed of motor, it is also needed to after the control of electric current loop, can just be exported as electricity
The rotating speed of machine.
Step S12, scheduled current is determined according to the output quantity of speed control；
Specifically, pre-set velocity set-point, by the output quantity of speed control, i.e., speed feedback value and speed preset value into
Row compares, and obtains speed error value, and speed error value feeding velocity correction function is calculated, obtains given value of current value, i.e.,
Scheduled current.
Step S13, when detecting that the departure between detection electric current and the scheduled current of motor reaches the second preset range
When, the detection electric current to motor is corrected, and determines the armature voltage of motor；
The armature supply of motor is detected, the value which obtains is the detection electric current of motor.
Specifically, the armature supply of motor is detected by Hall sensor, wherein, Hall sensor can be specific
For：LTSR15-NP, it can be specially the Hall sensor of LEM companies production, or the Hall of other companies production passes
Sensor, is not specifically limited herein.
After the armature supply that motor is detected by Hall sensor, analog-to-digital conversion module is sent it to, carries out modulus
Conversion, carries out the collection and filtering of current signal afterwards, after the collection and filtering through overcurrent signal, just carries out electric current loop
Correction.
Wherein, analog-to-digital conversion module can be specially：AD7656.
Wherein, the second preset range can be：One specific numerical value, such as：0, or other concrete numerical values.
When the second preset range is 0, that is, detecting electric current needs identical with scheduled current, as long as it is different, that is, needs pair
Detection electric current be corrected, only detect electric current it is identical with scheduled current numerical value it is identical when, just without to detect electric current into
Row correction；
When the second preset range is other numerical value, which includes a minimum value and a maximum,
Such as：[- 2 ,+2], as long as it is the value more than -2, and less than+2 to detect the difference between electric current and scheduled current, then without to inspection
Survey electric current to be corrected, otherwise, it is necessary to be corrected detection electric current.
Detection electric current is corrected, can be specially：Detection electric current is adjusted to the numerical value identical with scheduled current,
Can be：Detection electric current is adjusted to the deviation between scheduled current and is less than a certain predictive error value.
Step S14, the correction rotating speed of motor is determined according to the armature voltage of motor.
Specifically, determining the armature supply of motor according to the armature voltage of motor, electricity is determined according to the armature supply of motor
The back-emf of machine, the correction rotating speed of motor is determined according to the back-emf of motor.
, can be by by the armature supply tune of motor after the armature supply of motor is determined according to the armature voltage of motor
Whole is pwm signal, and motor drive signal is passed through after pwm signal is isolated, from motor drive ic that the armature is electric
During stream signal is sent to motor, the collection of armature supply is carried out by Hall sensor, so as to fulfill the control of electric current loop.
During the positive rotating speed of high-ranking officers is sent to motor, the tach signal is gathered by Circular gratings, so as to fulfill speed ring
Control.
Wherein, the motor speed control method the principle on which structure chart disclosed in the present embodiment is as shown in Fig. 2, bag
Include：
Circular gratings 21, dsp chip 22, FPGA23, analog-to-digital conversion module 24, magnetic coupling isolation element 25, power module 26, suddenly
That sensor 27.
Wherein, Circular gratings 21 carry out position signal collection, dsp chip 22 be used for realization velocity correction, current correction and
The functions such as pwm signal generation, FPGA is used for realization current signal collection and filter function, magnetic coupling isolation element 25 are used for realization
Pwm signal is isolated, and power module 26 is used for realization motor driving.
Wherein, dsp chip can be specially：Using the dsp chip TMS28335 with floating-point operation ability, the isolation of magnetic coupling
Element can be specially：ISO7240, power module can be specially：DRV8332.
Further, Circular gratings 21, dsp chip 22, FPGA23, analog-to-digital conversion module 24 can be arranged on control panel,
Being used as controller, magnetic coupling isolation element 25, power module 26, Hall sensor 27 can be arranged in driving plate, as
Driver uses.
Specifically, the mathematical model that motor speed control method disclosed in the present embodiment is based on is as shown in figure 3, wherein,
Uv(S) it is predetermined speed, Gv(S) it is speed ring correction link, Ua(S) it is the output quantity of speed control, Ga(S) it is electric current loop
Correction link, Ud0(S) it is the armature voltage of motor, Ia(S) be motor armature supply, E (S) be motor back-emf, n (S)
For the rotating speed of motor, G0(S) the mechanical resonant link of system in order to control, R are the all-in resistance of armature circuit, Ta=L/R returns for armature
The electromagnetic time constant on road, L are armature inductance, CεFor the back-emf system of motor, TmFor electromechanics time constant.
Motor speed control method disclosed in the present embodiment, by inclined between motor speed and predetermined speed when detecting
When residual quantity reaches the first preset range, motor speed is corrected, the output quantity of speed control is determined, according to speed control
The output quantity of device determines scheduled current, when detecting that it is pre- that the departure between detection electric current and the scheduled current of motor reaches second
When determining scope, the detection electric current to motor is corrected, and determines the armature voltage of motor, and electricity is determined according to the armature voltage of motor
The correction rotating speed of machine.This programme is by after motor speed is corrected, while by when the detection electric current that detect motor
When departure between scheduled current reaches the second preset range, the detection electric current to motor is corrected, so as to fulfill right
The correction of motor speed, this programme realize the correction to motor torque, so as to overcome existing by being corrected to electric current
Influence of the torque fluctuations of motor to photoelectric servo system in technology, solves the precision of system in the prior art and stationarity
Problem.
Present embodiment discloses a kind of motor speed control device, its structure diagram as shown in figure 4, including：
Velocity correction unit 41, the first determination unit 42,43 and second determination unit 44 of current correction unit.
Wherein, velocity correction unit 41, which is used to work as, detects that the departure between motor speed and predetermined speed reaches first
During preset range, motor speed is corrected, determines the output quantity of speed control；
Torque motor can increase the bandwidth of photoelectric servo system with loading direct-coupled mode, accelerate response speed,
But the torque fluctuations of motor can be delivered in photoelectric servo system, the influence to the low-speed stability of system is especially prominent.
The present embodiment sets speed ring to be corrected the rotating speed of motor first in order to solve the problems, such as this.
Motor speed control device disclosed in the present embodiment, can also include：Speed detection unit, wherein：
Speed detection unit is used for the position signal for determining motor, and difference processing is carried out to position signal, determines that motor turns
Speed.
Specifically, detecting the position signal of motor by Circular gratings, speed can be obtained by carrying out difference processing to position signal
Signal is spent, which as detects the rotating speed of obtained motor.
Wherein, Circular gratings can be：The Circular gratings of RENISHAW companies production, or the circle light of other companies production
Grid, are not specifically limited herein.
Wherein, the first preset range can be：One specific numerical value, such as：0, or other concrete numerical values.
When the first preset range is 0, i.e. motor speed needs are identical with predetermined speed, as long as it is different, that is, need pair
Motor speed is corrected, only when the motor speed numerical value identical with predetermined speed is identical, just without to motor speed into
Row correction；
When the first preset range is other numerical value, which includes a minimum value and a maximum,
Such as：[- 2 ,+2], as long as the difference that is, between motor speed and desired speed is the value more than -2, and less than+2, then without to electricity
Machine rotating speed is corrected, otherwise, it is necessary to be corrected to motor speed.
Motor speed is corrected, can be specially：Motor speed is adjusted to the numerical value identical with predetermined speed,
Can be：Motor speed is adjusted to the deviation between predetermined speed and is less than a certain predictive error value.
After being corrected to motor speed, an output valve is obtained, which is the output quantity of speed control,
The output quantity of the speed control is not the rotating speed of motor, it is also needed to after the control of electric current loop, can just be exported as electricity
The rotating speed of machine.
First determination unit 42 is used to determine scheduled current according to the output quantity of speed control；
Specifically, pre-set velocity set-point, by the output quantity of speed control, i.e., speed feedback value and speed preset value into
Row compares, and obtains speed error value, and speed error value feeding velocity correction function is calculated, obtains given value of current value, i.e.,
Scheduled current.
Current correction unit 43 is used for when detecting that the departure between detection electric current and the scheduled current of motor reaches the
During two preset ranges, the detection electric current to motor is corrected, and determines the armature voltage of motor；
The armature supply of motor is detected, the value which obtains is the detection electric current of motor.
Specifically, the armature supply of motor is detected by Hall sensor, wherein, Hall sensor can be specific
For：LTSR15-NP, it can be specially the Hall sensor of LEM companies production, or the Hall of other companies production passes
Sensor, is not specifically limited herein.
After the armature supply that motor is detected by Hall sensor, analog-to-digital conversion module is sent it to, carries out modulus
Conversion, carries out the collection and filtering of current signal afterwards, after the collection and filtering through overcurrent signal, just carries out electric current loop
Correction.
Wherein, analog-to-digital conversion module can be specially：AD7656.
Wherein, the second preset range can be：One specific numerical value, such as：0, or other concrete numerical values.
When the second preset range is 0, that is, detecting electric current needs identical with scheduled current, as long as it is different, that is, needs pair
Detection electric current be corrected, only detect electric current it is identical with scheduled current numerical value it is identical when, just without to detect electric current into
Row correction；
When the second preset range is other numerical value, which includes a minimum value and a maximum,
Such as：[- 2 ,+2], as long as it is the value more than -2, and less than+2 to detect the difference between electric current and scheduled current, then without to inspection
Survey electric current to be corrected, otherwise, it is necessary to be corrected detection electric current.
Detection electric current is corrected, can be specially：Detection electric current is adjusted to the numerical value identical with scheduled current,
Can be：Detection electric current is adjusted to the deviation between scheduled current and is less than a certain predictive error value.
Second determination unit 44 is used for the correction rotating speed that motor is determined according to the armature voltage of motor.
Specifically, determining the armature supply of motor according to the armature voltage of motor, electricity is determined according to the armature supply of motor
The back-emf of machine, the correction rotating speed of motor is determined according to the back-emf of motor.
It can also include：Transmitting element, transmitting element are used to the correction rotating speed armature supply of motor being adjusted to PWM letters
Number, the adjustment for motor, making motor carry out rotating speed is sent after pwm signal is isolated.
Wherein, transmitting element can be：Transmitting element included by motor speed control device, transmitting element can also
For：The subelement of second determination unit.
, can be by by the armature supply tune of motor after the armature supply of motor is determined according to the armature voltage of motor
Whole is pwm signal, and motor drive signal is passed through after pwm signal is isolated, from motor drive ic that the armature is electric
During stream signal is sent to motor, the collection of armature supply is carried out by Hall sensor, so as to fulfill the control of electric current loop.
During the positive rotating speed of high-ranking officers is sent to motor, the tach signal is gathered by Circular gratings, so as to fulfill speed ring
Control.
Wherein, the motor speed control device the principle on which structure chart disclosed in the present embodiment is as shown in Fig. 2, bag
Include：
Circular gratings 21, dsp chip 22, FPGA23, analog-to-digital conversion module 24, magnetic coupling isolation element 25, power module 26, suddenly
That sensor 27.
Wherein, Circular gratings 21 carry out position signal collection, dsp chip 22 be used for realization velocity correction, current correction and
The functions such as pwm signal generation, FPGA is used for realization current signal collection and filter function, magnetic coupling isolation element 25 are used for realization
Pwm signal is isolated, and power module 26 is used for realization motor driving.
Wherein, dsp chip can be specially：Using the dsp chip TMS28335 with floating-point operation ability, the isolation of magnetic coupling
Element can be specially：ISO7240, power module can be specially：DRV8332.
Further, Circular gratings 21, dsp chip 22, FPGA23, analog-to-digital conversion module 24 can be arranged on control panel,
Being used as controller, magnetic coupling isolation element 25, power module 26, Hall sensor 27 can be arranged in driving plate, as
Driver uses.
Specifically, the mathematical model that motor speed control device disclosed in the present embodiment is based on is as shown in figure 3, wherein,
Uv(S) it is predetermined speed, Gv(S) it is speed ring correction link, Ua(S) it is the output quantity of speed control, Ga(S) it is electric current loop
Correction link, Ud0(S) it is the armature voltage of motor, Ia(S) be motor armature supply, E (S) be motor back-emf, n (S)
For the rotating speed of motor, G0(S) the mechanical resonant link of system in order to control, R are the all-in resistance of armature circuit, Ta=L/R returns for armature
The electromagnetic time constant on road, L are armature inductance, CεFor the back-emf system of motor, TmFor electromechanics time constant.
Motor speed control device disclosed in the present embodiment, by inclined between motor speed and predetermined speed when detecting
When residual quantity reaches the first preset range, motor speed is corrected, the output quantity of speed control is determined, according to speed control
The output quantity of device determines scheduled current, when detecting that it is pre- that the departure between detection electric current and the scheduled current of motor reaches second
When determining scope, the detection electric current to motor is corrected, and determines the armature voltage of motor, and electricity is determined according to the armature voltage of motor
The correction rotating speed of machine.This programme is by after motor speed is corrected, while by when the detection electric current that detect motor
When departure between scheduled current reaches the second preset range, the detection electric current to motor is corrected, so as to fulfill right
The correction of motor speed, this programme realize the correction to motor torque, so as to overcome existing by being corrected to electric current
Influence of the torque fluctuations of motor to photoelectric servo system in technology, solves the precision of system in the prior art and stationarity
Problem.
Present embodiment discloses a kind of motor speed control system, its structure diagram as shown in figure 5, including：
Controller 51 and driver 52, wherein：
Controller 51 is used to detect motor speed, when detecting that the departure between motor speed and predetermined speed reaches the
During one preset range, motor speed is corrected, determines the output quantity of speed control, according to the output quantity of speed control
Scheduled current is determined, when the departure between detection electric current and the scheduled current of the motor detected by driver 52 reaches
During two preset ranges, the detection electric current to motor is corrected, and determines the armature voltage of motor, true according to the armature voltage of motor
Determine the correction rotating speed of motor, and sent by driver 52 to the motor.
Motor speed control system the principle on which structure chart disclosed in the present embodiment as shown in Fig. 2, including：
Circular gratings 21, dsp chip 22, FPGA23, analog-to-digital conversion module 24, magnetic coupling isolation element 25, power module 26, suddenly
That sensor 27.
Wherein, Circular gratings 21 carry out position signal collection, dsp chip 22 be used for realization velocity correction, current correction and
The functions such as pwm signal generation, FPGA is used for realization current signal collection and filter function, magnetic coupling isolation element 25 are used for realization
Pwm signal is isolated, and power module 26 is used for realization motor driving.
Wherein, dsp chip can be specially：Using the dsp chip TMS28335 with floating-point operation ability, the isolation of magnetic coupling
Element can be specially：ISO7240, power module can be specially：DRV8332.
Further, Circular gratings 21, dsp chip 22, FPGA23, analog-to-digital conversion module 24 can be arranged on control panel,
Being used as controller, magnetic coupling isolation element 25, power module 26, Hall sensor 27 can be arranged in driving plate, as
Driver uses.
Torque motor can increase the bandwidth of photoelectric servo system with loading direct-coupled mode, accelerate response speed,
But the torque fluctuations of motor can be delivered in photoelectric servo system, the influence to the low-speed stability of system is especially prominent.
The present embodiment sets speed ring to be corrected the rotating speed of motor first in order to solve the problems, such as this.
The position signal of motor is detected by Circular gratings, speed signal can be obtained by carrying out difference processing to position signal,
The speed signal as detects the rotating speed of obtained motor.
Wherein, Circular gratings can be：The Circular gratings of RENISHAW companies production, or the circle light of other companies production
Grid, are not specifically limited herein.
Wherein, the first preset range can be：One specific numerical value, such as：0, or other concrete numerical values.
When the first preset range is 0, i.e. motor speed needs are identical with predetermined speed, as long as it is different, that is, need pair
Motor speed is corrected, only when the motor speed numerical value identical with predetermined speed is identical, just without to motor speed into
Row correction；
When the first preset range is other numerical value, which includes a minimum value and a maximum,
Such as：[- 2 ,+2], as long as the difference that is, between motor speed and desired speed is the value more than -2, and less than+2, then without to electricity
Machine rotating speed is corrected, otherwise, it is necessary to be corrected to motor speed.
Motor speed is corrected, can be specially：Motor speed is adjusted to the numerical value identical with predetermined speed,
Can be：Motor speed is adjusted to the deviation between predetermined speed and is less than a certain predictive error value.
After being corrected to motor speed, an output valve is obtained, which is the output quantity of speed control,
The output quantity of the speed control is not the rotating speed of motor, it is also needed to after the control of electric current loop, can just be exported as electricity
The rotating speed of machine.
The armature supply of motor is detected, the value which obtains is the detection electric current of motor.
Specifically, the armature supply of motor is detected by Hall sensor, wherein, Hall sensor can be specific
For：LTSR15-NP, it can be specially the Hall sensor of LEM companies production, or the Hall of other companies production passes
Sensor, is not specifically limited herein.
After the armature supply that motor is detected by Hall sensor, analog-to-digital conversion module is sent it to, carries out modulus
Conversion, carries out the collection and filtering of current signal afterwards, after the collection and filtering through overcurrent signal, just carries out electric current loop
Correction.
Wherein, analog-to-digital conversion module can be specially：AD7656.
Wherein, the second preset range can be：One specific numerical value, such as：0, or other concrete numerical values.
When the second preset range is 0, that is, detecting electric current needs identical with scheduled current, as long as it is different, that is, needs pair
Detection electric current be corrected, only detect electric current it is identical with scheduled current numerical value it is identical when, just without to detect electric current into
Row correction；
When the second preset range is other numerical value, which includes a minimum value and a maximum,
Such as：[- 2 ,+2], as long as it is the value more than -2, and less than+2 to detect the difference between electric current and scheduled current, then without to inspection
Survey electric current to be corrected, otherwise, it is necessary to be corrected detection electric current.
Detection electric current is corrected, can be specially：Detection electric current is adjusted to the numerical value identical with scheduled current,
Can be：Detection electric current is adjusted to the deviation between scheduled current and is less than a certain predictive error value.
Specifically, determining the armature supply of motor according to the armature voltage of motor, electricity is determined according to the armature supply of motor
The back-emf of machine, the correction rotating speed of motor is determined according to the back-emf of motor.
, can be by by the armature supply tune of motor after the armature supply of motor is determined according to the armature voltage of motor
Whole is pwm signal, and motor drive signal is passed through after pwm signal is isolated, from motor drive ic that the armature is electric
During stream signal is sent to motor, the collection of armature supply is carried out by Hall sensor, so as to fulfill the control of electric current loop.
During the positive rotating speed of high-ranking officers is sent to motor, the tach signal is gathered by Circular gratings, so as to fulfill speed ring
Control.
Specifically, the mathematical model that motor speed control system disclosed in the present embodiment is based on is as shown in figure 3, wherein,
Uv(S) it is predetermined speed, Gv(S) it is speed ring correction link, Ua(S) it is the output quantity of speed control, Ga(S) it is electric current loop
Correction link, Ud0(S) it is the armature voltage of motor, Ia(S) be motor armature supply, E (S) be motor back-emf, n (S)
For the rotating speed of motor, G0(S) the mechanical resonant link of system in order to control, R are the all-in resistance of armature circuit, Ta=L/R returns for armature
The electromagnetic time constant on road, L are armature inductance, CεFor the back-emf system of motor, TmFor electromechanics time constant.
Motor speed control system disclosed in the present embodiment, by inclined between motor speed and predetermined speed when detecting
When residual quantity reaches the first preset range, motor speed is corrected, the output quantity of speed control is determined, according to speed control
The output quantity of device determines scheduled current, when detecting that it is pre- that the departure between detection electric current and the scheduled current of motor reaches second
When determining scope, the detection electric current to motor is corrected, and determines the armature voltage of motor, and electricity is determined according to the armature voltage of motor
The correction rotating speed of machine.This programme is by after motor speed is corrected, while by when the detection electric current that detect motor
When departure between scheduled current reaches the second preset range, the detection electric current to motor is corrected, so as to fulfill right
The correction of motor speed, this programme realize the correction to motor torque, so as to overcome existing by being corrected to electric current
Influence of the torque fluctuations of motor to photoelectric servo system in technology, solves the precision of system in the prior art and stationarity
Problem.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes each exemplary composition and step according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (9)
- A kind of 1. motor speed control method, it is characterised in that including：When detecting that the departure between motor speed and predetermined speed reaches the first preset range, to the motor speed into Row correction, determines the output quantity of speed control；Scheduled current is determined according to the output quantity of the speed control；When the departure between the detection electric current and the scheduled current that detect motor reaches the second preset range, to described The detection electric current of motor is corrected, and determines the armature voltage of the motor；The correction rotating speed of motor is determined according to the armature voltage of the motor.
- 2. according to the method described in claim 1, it is characterized in that, detection motor speed, including：Determine the position signal of motor；Difference processing is carried out to the position signal, determines the motor speed.
- 3. according to the method described in claim 1, it is characterized in that, the armature voltage according to the motor determines motor Rotating speed is corrected, including：The armature supply of the motor is determined according to the armature voltage of the motor；The back-emf of the motor is determined according to the armature supply of the motor；The correction rotating speed of the motor is determined according to the back-emf of the motor.
- 4. according to the method described in claim 3, it is characterized in that, further include：The armature supply of the motor is adjusted to pwm signal；The adjustment for the motor, making the motor carry out rotating speed is sent after the pwm signal is isolated.
- A kind of 5. motor speed control device, it is characterised in that including：Velocity correction unit, the first determination unit, current correction Unit and the second determination unit, wherein：The velocity correction unit, which is used to work as, detects that the departure between motor speed and predetermined speed reaches the first predetermined model When enclosing, the motor speed is corrected, determines the output quantity of speed control；First determination unit is used to determine scheduled current according to the output quantity of the speed control；The departure that the current correction unit is used between detection electric current and the scheduled current of motor is detected reaches During the second preset range, the detection electric current to the motor is corrected, and determines the armature voltage of the motor；Second determination unit is used for the correction rotating speed that motor is determined according to the armature voltage of the motor.
- 6. device according to claim 5, it is characterised in that further include：Speed detection unit, wherein：The speed detection unit is used for the position signal for determining motor, carries out difference processing to the position signal, determines institute State motor speed.
- 7. device according to claim 5, it is characterised in that second determination unit is used for：The armature supply of the motor is determined according to the armature voltage of the motor, institute is determined according to the armature supply of the motor The back-emf of motor is stated, the correction rotating speed of the motor is determined according to the back-emf of the motor.
- 8. device according to claim 7, it is characterised in that further include：Transmitting element, wherein：The transmitting element is used to the correction rotating speed armature supply of the motor being adjusted to pwm signal, by the pwm signal into The adjustment for the motor, making the motor carry out rotating speed is sent after row isolation.
- A kind of 9. motor speed control system, it is characterised in that including：Controller and driver, wherein：The controller is used to detect motor speed, when detecting that the departure between the motor speed and predetermined speed reaches During the first preset range, the motor speed is corrected, determines the output quantity of speed control, according to the speed control The output quantity of device determines scheduled current, when between the detection electric current of the motor detected by driver and the scheduled current When departure reaches the second preset range, the detection electric current to the motor is corrected, and determines the armature voltage of the motor, The correction rotating speed of motor is determined according to the armature voltage of the motor, and is sent by the driver to the motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711405764.9A CN108039845A (en) | 2017-12-22 | 2017-12-22 | A kind of motor speed control method, apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711405764.9A CN108039845A (en) | 2017-12-22 | 2017-12-22 | A kind of motor speed control method, apparatus and system |
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| CN101478279A (en) * | 2008-10-21 | 2009-07-08 | 北京华凯汇信息科技有限公司 | DC motor driver and driving method |
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| CN104753439A (en) * | 2015-03-26 | 2015-07-01 | 苏州工业职业技术学院 | PID (piping and instrument diagram) intelligent speed regulating method of electric motor |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101478279A (en) * | 2008-10-21 | 2009-07-08 | 北京华凯汇信息科技有限公司 | DC motor driver and driving method |
| CN102176652A (en) * | 2011-03-11 | 2011-09-07 | 易泰帝传动技术(烟台)有限公司 | Current control method of direct-current speed governor |
| CN104753439A (en) * | 2015-03-26 | 2015-07-01 | 苏州工业职业技术学院 | PID (piping and instrument diagram) intelligent speed regulating method of electric motor |
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Application publication date: 20180515 |