CN108875268A - A kind of design method of the linear motor PID controller based on attenuation curve method - Google Patents
A kind of design method of the linear motor PID controller based on attenuation curve method Download PDFInfo
- Publication number
- CN108875268A CN108875268A CN201810740577.4A CN201810740577A CN108875268A CN 108875268 A CN108875268 A CN 108875268A CN 201810740577 A CN201810740577 A CN 201810740577A CN 108875268 A CN108875268 A CN 108875268A
- Authority
- CN
- China
- Prior art keywords
- linear motor
- pid controller
- response curve
- parameter
- attenuation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/30—Circuit design
- G06F30/36—Circuit design at the analogue level
- G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
Abstract
The present invention relates to the design methods that industrial robot uses a kind of linear motor PID controller based on attenuation curve method, belong to industrial robot techniques of linear motor field.In the design, the mathematical model of linear motor is initially set up, then builds entire analogous diagram under Simulink environment in MATLAB2014.a version.On this basis, it recycles attenuation curve method to carry out the adjusting of linear motor PID controller parameter, if system response curve effect is bad after emulation, carries out the fine tuning of parameter using trial and error procedure on this basis.Effective benefit of the invention is：Compared to the adjusting that traditional trial and error procedure carries out PID controller parameter, this method can reduce a large amount of setting time, and easy to operate, in addition the best adjusting to linear motor PID controller parameter may be implemented in this method.Through model emulation, the results showed that this method can obtain preferable effect.
Description
Technical field
The present invention relates to the designs of the linear motor PID controller of industrial robot, belong to industrial robot linear motor
Technical field.
Background technique
After the early 1960s mankind create First industrial robot, robot just shows it greatly
Vitality, in short 50 years, robot technology is rapidly developed.Motor driven is modern industry machine
A kind of mainstream driving method of device people, and linear motor due to its adapt to very high speed and very low speed application, high acceleration,
In high precision, the advantages that no backlash, abrasion is small, and structure is simple, is not necessarily to speed reducer and lead screw gear shaft coupling is led in industrial robot
It is used widely in domain.
Three aspects are basically divided into the research of DC MOTOR CONTROL technology：Traditional control technology, modern technologies and intelligent skill
Art.Traditional control technology such as PID/feedback controls, and decoupling control etc. is used widely in AC servo.Wherein PID
Control technology contains the past in dynamic control process, now with following information, has stronger robustness, is that its is most basic
Control mode.
PID control system is developed so far, and practical tuning method is mainly aritical ratio method, attenuation curve method, trial and error procedure and anti-
Answer curve method.But critical proportional band law requires system self-sustained oscillation, but also could obtain after repeatedly trying to gather preferable
System response curve；Trial and error procedure expends time and efforts very much, and needs adjustment parameter repeatedly；Response curve method needs preparatory
Response curve is measured, the constraint condition on certain technique objects is tighter, and test is had any problem, and disturbing factor is more, therefore
Application is limited.And attenuation curve method compares more preceding 3 kinds of methods, and it is relatively simple, it is convenient, it is more suitable for engineer application.Therefore,
Attenuation curve method is applied in determining linear motor PID controller parameter by the design, and combines trial and error procedure, simulation result table
Bright, this method can obtain preferable effect.
Summary of the invention
The invention solves technical problems to be：The shortcomings that overcoming above-mentioned technology.There is provided a kind of low cost, high reliablity and
Simply and easily linear motor PID controller.
To solve the above problems, the present invention proposes the following technical solution：
A kind of design method of the linear motor PID controller based on attenuation curve method, includes the following steps：
Step 1）The mathematical model of linear motor is established according to the operation characteristic of linear motor and parameter；
Step 2）The simulation model of linear motor PID controller is built under MATLAB software Simulink environment；
Step 3）On the basis of simulation model, the parameter of linear motor PID controller is determined using attenuation curve method；
Step 4）PID controller parameter is determined according to attenuation curve method meter, then utilizes simulation model analysis system response curve,
If response curve is undesirable, trial and error procedure is recycled to be finely adjusted, to obtain comparatively ideal response curve.
The step 1）In the foundation of mathematical model of linear motor include following content：
Motor driven is a kind of mainstream driving method of modern industry robot, and linear motor due to its adapt to very high speed and
The very application of low speed, high acceleration, high-precision, no backlash, abrasion is small, and structure is simple, joins without speed reducer and lead screw gear
The advantages that axis device, is used widely in industrial robot field.
According to the kinetic characteristic of linear motor and dynamic characteristic it is found that the linear motor differential equation is（1）
Wherein, L is coil inductance, and m is the gross mass of linear motor rotor, and k is the elastic stiffness of spring, and c is damped coefficient, km
For the force constant of linear motor, R and L respectively indicate wire loop resistance, wire loop inductance, kEFor the anti-electronic of linear motor
Gesture coefficient, x (t) are output quantity, U（t）For input quantity.
The transmission function between linear motor displacement and control voltage, which can be obtained, according to the dynamic model structure figure of linear motor is（2）
Wherein,It is displaced for linear motor,To control voltage,For the electromagnetic time constant of wire loop, s is
The variable in the domain s after Laplace transform.
Formula（2）As linear motor is for analyzing the mathematical model of its dynamic response curve.
The step 2）In build simulation model particular content under Simulink environment and be：It is calculated according to the parameter value of linear motor
Then its specific transmission function out adds input signal module, it is 1 step signal that the design, which selects amplitude, is then added
Ratio module, integration module, derivative module and oscillograph etc. finally reconnect each module.
The step 3）Particular content is：
41）PID controller is become into proportional controller（I.e. the value of integral coefficient Ki and differential coefficient Kd take 0 at this time, only adjust ratio
Example COEFFICIENT K p）, proportional band δ（The inverse of Kp）Biggish value is taken, given value is jump function, the decaying of observing system response curve
Situation.It is then gradually increased the value of Kp, it is known that attenuation ratio 10：1, proportional band at this time is δs(proportionality coefficient is Kp at this time•),
Damped cycle is Ts, as shown in Figure 1；
42）According to δsAnd Ts, it is calculated according to table 2；
43）The parameter of PID is arranged in the simulation model established using Simulink, carries out Similarity degree.
Described 41）Middle attenuation ratio takes 10：1 particular content is：If pure proportion adjustment system cannot be transferred to 10 completely：1 shape
State should then take greater than 10：1 rather than value less than normal；
The step 4）Particular content is：If after determining linear motor PID controller parameter by attenuation curve method, rung
It answers the fluctuation of curve bigger or the period of waves of its response curve is longer, then should be finely adjusted by trial and error procedure.
It is by the particular content that trial and error procedure is finely adjusted：The vibration of system response curve is very frequent, and ratio angle value will amplify；System
Around big curved, ratio angle value should be reduced for response curve floating；System response curve, which deviates, replys slow, the time of integration past decline；System
Response curve cycle of oscillation is long, and the time of integration lengthens again；System response curve frequency of oscillation is fast, and first differential is lowered；Moment
Big slow to fluctuate, derivative time should lengthen.
Beneficial effects of the present invention：1）The method of the design is simple, and parameter tuning time-consuming is short；2）The design is highly suitable for engineering
Using attenuation curve method in conjunction with trial and error procedure and is applied to the design of the linear motor PID controller that industrial robot uses
In, preferably response curve can be obtained；3）The design of the linear motor PID controller used for industrial robot proposes enough one kind
Preferable design scheme.
Detailed description of the invention
Invention is described further with reference to the accompanying drawing.
Fig. 1 is the PID control analogous diagram of the linear induction motor system of present example.
Fig. 2 is Kp=42000 of present example, system response curve when Ki=Kd=0.
Fig. 3 is the system response curve of present example obtained based on attenuation curve method.
Fig. 4 is the final curves of the system response of present example.
Specific embodiment
The linear motor of the implementation case is a kind of short stroke linear motor, major parameter such as table 1.
The particular content of this programme is as follows：
A kind of design of the linear motor PID controller of industrial robot, characterized in that include the following steps：
Step 1）The mathematical model of linear motor is established according to the operation characteristic of linear motor and parameter, linear motor therein
The foundation of mathematical model includes following content：
Motor driven is a kind of mainstream driving method of modern industry robot, and linear motor due to its adapt to very high speed and
The very application of low speed, high acceleration, high-precision, no backlash, abrasion is small, and structure is simple, joins without speed reducer and lead screw gear
The advantages that axis device, is used widely in industrial robot field.
According to the kinetic characteristic of linear motor and dynamic characteristic it is found that the linear motor differential equation is（1）
Wherein, L is coil inductance, and m is the gross mass of linear motor rotor, and k is the elastic stiffness of spring, and c is damped coefficient, km
For the force constant of linear motor, R and L respectively indicate wire loop resistance, wire loop inductance, kEFor the anti-electronic of linear motor
Gesture coefficient, x (t) are output quantity, U（t）For input quantity.
The transmission function between linear motor displacement and control voltage, which can be obtained, according to the dynamic model structure figure of linear motor is（2）
Wherein,It is displaced for linear motor,To control voltage,For the electromagnetic time constant of wire loop, s
For the variable in the domain s after Laplace transform.
Formula（2）As linear motor is for analyzing the mathematical model of its dynamic response characteristic.
According to parameter shown in table 1, it can be calculated that the transmission function of the short stroke linear motor is
Step 2）The simulation model of linear motor PID controller is built under MATLAB software Simulink environment.Wherein exist
Simulation model particular content is built under Simulink environment is：Its specific transmitting letter is calculated according to the parameter value of linear motor
Then number adds input signal module, it is 1 step signal that the design, which selects amplitude, and then adding proportion module, integrates mould
Block, derivative module and oscillograph etc. finally reconnect each module, as shown in Figure 1, being its simulation model.
Step 3）On the basis of simulation model, the parameter of linear motor PID controller is determined using attenuation curve method.Tool
Hold in vivo and is：
31）PID controller is become into proportional controller（I.e. the value of integral coefficient Ki and differential coefficient Kd take 0 at this time, only adjust ratio
Example COEFFICIENT K p）, proportional band δs（The inverse of Kp）Biggish value is taken, given value is jump function, and observing system response curve declines
Subtract situation.It is then gradually increased the value of Kp, it is known that attenuation ratio 10：1, proportional band at this time is δs(proportionality coefficient is at this time
Kp•), damped cycle Ts, as shown in Figure 2；
32）According to δsAnd Ts, it is calculated according to table 2；
33）The parameter of PID is arranged in the simulation model established using Simulink, carries out Similarity degree.
Attenuation ratio takes 10：1 should be noted：If pure proportion adjustment system cannot be transferred to 10 completely：1 state should then take and be greater than
10：1 rather than value less than normal.
Obtaining each parameter by attenuation curve method is respectively：Kp=42000, δs=1/Kp=1/42000, Ts=0.18125, Ti=
0.3 × Ts, Td=0.1 × Ts.Therefore, Ki=Kp/Ti=8400000, Kd=Kp × Ti=42000.
Step 4）According to the PID controller parameter that attenuation curve method meter determines, using simulation model analysis system response curve, if
Response curve is undesirable, then recycles trial and error procedure to be finely adjusted, to obtain comparatively ideal response curve.Particular content is：If
After determining linear motor PID controller parameter by attenuation curve method, the fluctuation of response curve is bigger or its response is bent
The period of waves of line is longer, then should be finely adjusted by trial and error procedure.Fig. 3 is that the system obtained by attenuation curve method responds song
Line, from the figure 3, it may be seen that system response curve vibration is very frequent, and its cycle of oscillation is longer, gathers therefore, it is also desirable to carry out examination, into
Row fine tuning.
It is by the particular content that trial and error procedure is finely adjusted：The vibration of system response curve is very frequent, and ratio angle value will amplify；System
Around big curved, ratio angle value should be reduced for response curve floating；System response curve, which deviates, replys slow, the time of integration past decline；System
Response curve cycle of oscillation is long, and the time of integration lengthens again；System response curve frequency of oscillation is fast, and first differential is lowered；Moment
Big slow to fluctuate, derivative time should lengthen.
Examination is carried out on the basis of attenuation curve method to gather to obtain preferable response curve, finally obtains linear motor pid parameter
For：Kp=420000, Ki=3000000, Kd=75000.Its final response curve such as Fig. 4, as shown in Figure 4, the response curve compared with
Good, oscillation is little.
Table 1 is the parameter of the linear motor of present example
Table 1
| Effective travel | 10mm | Magnetic induction intensity | 0.591T |
| Coil inductance | 1.76mH | Coil resistance | 1.9Ω |
| Mover quality | 0.22Kg | Mean diameter of coil | 64mm |
| Spring constant | 5N/mm | Viscous friction coefficient | 0.2N·m/s |
| Coil turn | 192 |
Table 2 is the attenuation curve method tables of data of present example
Table 2
| Adjustment effect | Time of integration Ti | Derivative time Td |
| Proportional integration | 0.5Ts | |
| Proportional integral differential | 0.3Ts | 0.1Ts |
Claims (7)
1. a kind of design method of the linear motor PID controller based on attenuation curve method, characterized in that include the following steps：
Step 1）The mathematical model of linear motor is established according to the operation characteristic of linear motor and parameter；
Step 2）The simulation model of linear motor PID controller is built under MATLAB software Simulink environment；
Step 3）On the basis of simulation model, the parameter of linear motor PID controller is determined using attenuation curve method；
Step 4）PID controller parameter is determined according to attenuation curve method, then utilizes simulation model analysis system response curve, if
Response curve is undesirable, then recycles trial and error procedure to be finely adjusted, and obtains response curve.
2. the design method of the linear motor PID controller according to claim 1 based on attenuation curve method, feature
It is the step 1）In the foundation of mathematical model of linear motor include following content：
According to the kinetic characteristic of linear motor and dynamic characteristic it is found that the linear motor differential equation is（1）
Wherein, L is coil inductance, and m is the gross mass of linear motor rotor, and k is the elastic stiffness of spring, and c is damped coefficient, km
For the force constant of linear motor, R and L respectively indicate wire loop resistance, wire loop inductance, kEFor the anti-electronic of linear motor
Gesture coefficient, x (t) are output quantity, U（t）For input quantity；
The transmission function between linear motor displacement and control voltage, which can be obtained, according to the dynamic model structure figure of linear motor is（2）
Wherein, X (s) is linear motor displacement, and U (s) is control voltage,For the electromagnetic time constant of wire loop, s is that drawing is general
Variable in the transformed domain s in Lars；
Formula（2）As linear motor is for analyzing the mathematical model of its dynamic response curve.
3. the design method of the linear motor PID controller according to claim 1 based on attenuation curve method, feature
It is the step 2）In build simulation model particular content under Simulink environment and be：It is calculated according to the parameter value of linear motor
Then its specific transmission function out adds input signal module, it is 1 step signal that the design, which selects amplitude, is then added
Ratio module, integration module, derivative module and oscillograph etc. finally reconnect each module.
4. the design method of the linear motor PID controller according to claim 1 based on attenuation curve method, feature
It is the step 3）Particular content is：
41）PID controller is become into proportional controller（I.e. the value of integral coefficient Ki and differential coefficient Kd take 0 at this time, only adjust ratio
Example COEFFICIENT K p）, proportional band δ（The inverse of Kp）Biggish value is taken, given value is jump function, the decaying of observing system response curve
Situation.It is then gradually increased the value of Kp, until attenuation ratio is greater than 10：1, proportional band at this time is δs(proportionality coefficient is at this time
Kp•), damped cycle Ts；
42）According to δsAnd Ts, it is calculated according to table 2；
43）The parameter of PID is arranged in the simulation model established using Simulink, carries out Similarity degree.
5. the design method of the linear motor PID controller according to claim 4 based on attenuation curve method, feature
It is described 41）Middle attenuation ratio takes 10：1.
6. the design method of the linear motor PID controller according to claim 1 based on attenuation curve method, feature
It is the step 4）Particular content is：If after determining linear motor PID controller parameter by attenuation curve method, rung
It answers the fluctuation of curve bigger or the period of waves of its response curve is longer, then should be finely adjusted by trial and error procedure.
7. the design method of the linear motor PID controller according to claim 6 based on attenuation curve method, feature
It is to be by the particular content that trial and error procedure is finely adjusted：The vibration of system response curve is very frequent, and ratio angle value will amplify；System
Around big curved, ratio angle value should be reduced for response curve floating；System response curve, which deviates, replys slow, the time of integration past decline；System
Response curve cycle of oscillation is long, and the time of integration lengthens again；System response curve frequency of oscillation is fast, and first differential is lowered；Moment
Big slow to fluctuate, derivative time should lengthen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810740577.4A CN108875268A (en) | 2018-07-07 | 2018-07-07 | A kind of design method of the linear motor PID controller based on attenuation curve method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810740577.4A CN108875268A (en) | 2018-07-07 | 2018-07-07 | A kind of design method of the linear motor PID controller based on attenuation curve method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108875268A true CN108875268A (en) | 2018-11-23 |
Family
ID=64300090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810740577.4A Pending CN108875268A (en) | 2018-07-07 | 2018-07-07 | A kind of design method of the linear motor PID controller based on attenuation curve method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108875268A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109725524A (en) * | 2018-12-20 | 2019-05-07 | 中国航空工业集团公司洛阳电光设备研究所 | A method of based on image processor step debugging functions to photoelectric nacelle tracking parameter Self-tuning System |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102789824A (en) * | 2012-08-08 | 2012-11-21 | 中广核工程有限公司 | Debugging method and system for closed-loop control system of nuclear power plant |
| CN102981404A (en) * | 2012-12-10 | 2013-03-20 | 苏州天弘激光股份有限公司 | Method for quickly adjusting proportion integration differentiation (PID) parameter |
| CN107657125A (en) * | 2017-09-30 | 2018-02-02 | 中冶赛迪技术研究中心有限公司 | Control System Design and pid parameter setting method and system based on associative simulation |
| CN107942648A (en) * | 2017-11-29 | 2018-04-20 | 中国飞机强度研究所 | A kind of extra space temperature field PID controller parameter setting method |
-
2018
- 2018-07-07 CN CN201810740577.4A patent/CN108875268A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102789824A (en) * | 2012-08-08 | 2012-11-21 | 中广核工程有限公司 | Debugging method and system for closed-loop control system of nuclear power plant |
| CN102981404A (en) * | 2012-12-10 | 2013-03-20 | 苏州天弘激光股份有限公司 | Method for quickly adjusting proportion integration differentiation (PID) parameter |
| CN107657125A (en) * | 2017-09-30 | 2018-02-02 | 中冶赛迪技术研究中心有限公司 | Control System Design and pid parameter setting method and system based on associative simulation |
| CN107942648A (en) * | 2017-11-29 | 2018-04-20 | 中国飞机强度研究所 | A kind of extra space temperature field PID controller parameter setting method |
Non-Patent Citations (1)
| Title |
|---|
| 陈幼平 等: ""一种短行程直线电机的数学模型及其实验研究"", 《中国电机工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109725524A (en) * | 2018-12-20 | 2019-05-07 | 中国航空工业集团公司洛阳电光设备研究所 | A method of based on image processor step debugging functions to photoelectric nacelle tracking parameter Self-tuning System |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103684193B (en) | A kind of AC servo attitude conirol method | |
| CN106787939B (en) | A kind of high-precision drive control device of piezoelectric ceramic ultrasonic motor | |
| CN105159069B (en) | A kind of displacement control method of piezoelectric ceramic actuator | |
| CN104199283A (en) | Test system and control method for electro-hydraulic servo online self-adjusting fuzzy PID control | |
| CN103034127B (en) | A kind of axial magnetic bearing control system | |
| CN107387504B (en) | A kind of any Unloading curve compress control method of hydraulic coupling device | |
| CN107272409A (en) | A kind of linear servo system vibration suppressing method based on iterative learning | |
| CN105978400B (en) | Ultrasonic motor control method | |
| CN113485123A (en) | Frequency domain adaptive iterative learning control method for small-stroke nanoscale motion platform | |
| CN105929865A (en) | Linear servo system mechanical resonance control method | |
| CN108875268A (en) | A kind of design method of the linear motor PID controller based on attenuation curve method | |
| CN103647481B (en) | Bearing-free permanent magnet synchronous motor radial position neural Network Adaptive Inversion Control device building method | |
| CN106406093A (en) | Ultrasonic motor servo control system asymmetric hysteretic compensation control device and method | |
| CN105319971B (en) | GMA self-adaptation control methods based on fiber grating and device | |
| CN106406100A (en) | Rotor dynamic balancing control system based on fuzzy self-tuning single neure PID control and method thereof | |
| CN101997470A (en) | Adaptive passivity-based control (PBC) method for doubly-fed induction wind driven generator | |
| CN104270046A (en) | Motor control method based on self-learning of rotating speed-current two-dimensional fuzzy model | |
| CN109491418B (en) | Active vibration isolation system experiment platform based on secondary channel online identification and control method thereof | |
| CN108958021A (en) | A kind of design method of the linear motor PID controller of industrial robot | |
| CN108416114B (en) | Dynamic hysteresis modeling method of electronic throttle valve based on Hammerstein structure | |
| CN115556103A (en) | Fractional order impedance controller based on dynamics feedforward and design method thereof | |
| CN112965383B (en) | Self-adaptive neural network optimal timing synchronization control method of unidirectional coupling fractional order self-sustaining electromechanical seismograph system | |
| CN104317322A (en) | Automatic pressure regulating type high-pressure helium control system | |
| CN104811113B (en) | Induction motor speed regulating method based on MANDANI fuzzy controller | |
| CN114779650B (en) | Electromagnetic vibration table harmonic control system and method based on neural network inverse model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |