CN108880369A - Motor anti-interference control method, system and device based on fractional order sliding formwork control - Google Patents

Motor anti-interference control method, system and device based on fractional order sliding formwork control Download PDF

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Publication number
CN108880369A
CN108880369A CN201810599881.1A CN201810599881A CN108880369A CN 108880369 A CN108880369 A CN 108880369A CN 201810599881 A CN201810599881 A CN 201810599881A CN 108880369 A CN108880369 A CN 108880369A
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motor
interference
control
fractional order
angular speed
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CN108880369B (en
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张碧陶
姚科
高福荣
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Guangzhou HKUST Fok Ying Tung Research Institute
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Guangzhou HKUST Fok Ying Tung Research Institute
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control

Abstract

The invention discloses motor anti-interference control method, system and device based on fractional order sliding formwork control, method includes:The interference size that motor is subject to is estimated, interference discreet value is obtained;According to interference discreet value, the gain size of sliding formwork switching is calculated;According to the gain size of calculating, closed-loop control is carried out using angular speed of the sliding mode control algorithm based on fractional order to motor;System includes that module, gain size computing module and sliding formwork control module are estimated in interference;Device includes memory and processor.The present invention is based on accurate gain sizes to carry out sliding formwork control, not only can guarantee the strong robustness of sliding mode control algorithm, but also can effectively inhibit and tremble shake, improve the precision of motor speed control;In addition, the present invention is based on the calculus fields of fractional order to execute sliding mode control algorithm, the robustness of sliding mode control algorithm is further improved, can be widely applied to Motor Control Field.

Description

Motor anti-interference control method, system and device based on fractional order sliding formwork control
Technical field
The present invention relates to Motor Control Field, be based especially on fractional order sliding formwork control motor anti-interference control method, System and device.
Background technique
Permanent magnet synchronous motor has the advantages such as small in size, fast, the power height of response, new-energy automobile, numerically-controlled machine tool and The equipment such as robot are widely used.Currently, existing control system for permanent-magnet synchronous motor (or driver) in the market Typically PID closed-loop control.However, the control performance of this control algolithm in an interference situation is poor, it is unable to reach and answers With requiring.Since sliding mode control algorithm has the strong robustness for interference, so being widely used in the anti-interference of servo-system In high-accuracy control.But traditional sliding mode control algorithm has the following problems:
Sliding mode control algorithm must satisfy interference matching condition, but interference is unable to measure, in order to guarantee the feasibility of algorithm, It is generally necessary to the turn off gain of sliding formwork control is designed bigger, to overcome significantly external disturbance.However, excessive sliding formwork Handoff gain but attracts new problem:The significantly switching of high frequency will cause the shake of trembling of system, and then influence control precision.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to:It one kind is provided can reduce and tremble shake and control precision is high , motor anti-interference control method, system and device based on fractional order sliding formwork control.
First technical solution adopted by the present invention is:
Motor anti-interference control method based on fractional order sliding formwork control, includes the following steps:
The interference size that motor is subject to is estimated, interference discreet value is obtained;
According to interference discreet value, the gain size of sliding formwork switching is calculated;
According to the gain size of calculating, closed loop is carried out using angular speed of the sliding mode control algorithm based on fractional order to motor Control.
Further, further include the steps that the actual motion angular speed for obtaining motor.
Further, the step for the actual motion angular speed for obtaining motor, include the following steps:
Detect the actual motion angle of motor;
According to the actual motion angle of motor, the actual motion angular speed of motor is calculated.
Further, the step for interference size being subject to motor is estimated, and obtains interference discreet value, including with Lower step:
Motor angular velocity is predicted, obtain angular speed discreet value, the calculation formula of the angular speed discreet value is:
Wherein,Represent the angular speed discreet value of motor;Represent interference discreet value;B represents coefficient of friction;J represents motor Rotary inertia;ω represents the actual motion angular speed of motor;N represents motor number of pole-pairs;L represents motor equivalent inductance;I represents electricity Machine equivalent current;k1For the first coefficient;
According to the actual motion angular speed of motor and angular speed discreet value, the interference discreet value that motor is subject to is calculated, it is described Interference discreet value calculation formula be:
Wherein, k2For the second coefficient.
Further, it is described according to interference discreet value, calculate sliding formwork switching gain size the step in, the sliding formwork is cut The calculation formula of the gain size K changed is:
Further, the gain size according to calculating, using the sliding mode control algorithm based on fractional order to the angle of motor Speed carries out the step for closed-loop control, includes the following steps:
Fractional order sliding mode is calculated, the calculation formula of the fractional order sliding mode is:
Wherein, behalf fractional order sliding mode;Representative fraction rank differential operator;R represents derivative order;t Represent the time of integration upper limit;E represents the angular speed error of motor;
According to the fractional order sliding mode and gain size of calculating, motor is calculated using fractional order sliding mode control algorithm and is being revolved Turn the DC current under coordinate, the calculation formula of the DC current under the rotational coordinates is:
Wherein,K is sliding formwork handoff gain;
According to DC current of the motor under rotational coordinates, closed-loop control is carried out to the angular speed of motor.
Further, the DC current according to motor under rotational coordinates carries out closed-loop control to the angular speed of motor The step for, include the following steps:
DC current of the motor under rotational coordinates is mapped, DC current of the motor under static coordinate is obtained;
DC current of the motor under static coordinate is converted, the three-phase voltage of motor is obtained;
It is adjusted by conduction time of the pulse width to motor;
According to the conduction time of motor and three-phase voltage, the three-phase alternating current of motor is obtained;
According to the three-phase alternating current of motor, closed-loop control is carried out to the angular speed of motor.
Further, the step for the actual motion angle of the detection motor, it is specially:
The actual motion angle of motor is detected by encoder or rotary transformer.
Second technical solution adopted by the present invention is:
Motor antidisturbance control system based on fractional order sliding formwork control, including:
Module is estimated in interference, is estimated to the interference size that motor is subject to, and interference discreet value is obtained;
Gain size computing module, for calculating the gain size of sliding formwork switching according to interference discreet value;
Sliding formwork control module, for the gain size according to calculating, using the sliding mode control algorithm based on fractional order to electricity The angular speed of machine carries out closed-loop control.
Third technical solution adopted by the present invention is:
Motor anti-interference control device based on fractional order sliding formwork control, including:
Memory, for storing program;
Processor is used for loading procedure, to execute the electricity based on fractional order sliding formwork control as described in the first technical solution Machine anti-interference control method.
The beneficial effects of the invention are as follows:Then the present invention calculates sliding formwork switching by estimating the interference size that motor is subject to Gain size, final to carry out closed-loop control to motor according to the gain size being calculated, the present invention is based on accurate gains Size carries out sliding formwork control, not only can guarantee the strong robustness of sliding mode control algorithm, but also can effectively inhibit and tremble shake, Improve the precision of motor speed control;In addition, the present invention is based on the calculus fields of fractional order to execute sliding mode control algorithm, Further improve the robustness of sliding mode control algorithm.
Detailed description of the invention
Fig. 1 is that the present invention is based on the step flow charts of the motor anti-interference control method of fractional order sliding formwork control;
Fig. 2 is the structural block diagram of motor antidisturbance control system of the invention.
Specific embodiment
The present invention is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.For of the invention real The step number in example is applied, is arranged only for the purposes of illustrating explanation, any restriction is not done to the sequence between step, is implemented The execution sequence of each step in example can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to Fig.1, the present invention is based on the motor anti-interference control method of fractional order sliding formwork control, include the following steps:
The interference size that motor is subject to is estimated, interference discreet value is obtained;
According to interference discreet value, the gain size of sliding formwork switching is calculated;
According to the gain size of calculating, closed loop is carried out using angular speed of the sliding mode control algorithm based on fractional order to motor Control.
It is further used as preferred embodiment, further includes the steps that the actual motion angular speed for obtaining motor.
It is further used as preferred embodiment, the step for the actual motion angular speed for obtaining motor, including with Lower step:
Detect the actual motion angle of motor;
According to the actual motion angle of motor, the actual motion angular speed of motor is calculated.
It is further used as preferred embodiment, the interference size being subject to motor is estimated, and it is pre- to obtain interference The step for valuation, includes the following steps:
Motor angular velocity is predicted, obtain angular speed discreet value, the calculation formula of the angular speed discreet value is:
Wherein,Represent the angular speed discreet value of motor;Represent interference discreet value;B represents coefficient of friction;J represents motor Rotary inertia;ω represents the actual motion angular speed of motor;N represents motor number of pole-pairs;L represents motor equivalent inductance;I represents electricity Machine equivalent current;k1For the first coefficient;
According to the actual motion angular speed of motor and angular speed discreet value, the interference discreet value that motor is subject to is calculated, it is described Interference discreet value calculation formula be:
Wherein, k2For the second coefficient.
Be further used as preferred embodiment, it is described according to interference discreet value, calculate sliding formwork switching gain size this In one step, the calculation formula of the gain size K of the sliding formwork switching is:
It is further used as preferred embodiment, the gain size according to calculating, using the sliding formwork based on fractional order The step for control algolithm carries out closed-loop control to the angular speed of motor, includes the following steps:
Fractional order sliding mode is calculated, the calculation formula of the fractional order sliding mode is:
Wherein, behalf fractional order sliding mode;Representative fraction rank differential operator;R represents derivative order, i.e., r(0<r<1) order derivative;T represents the time of integration upper limit;E represents the angular speed error of motor;
According to the fractional order sliding mode and gain size of calculating, motor is calculated using fractional order sliding mode control algorithm and is being revolved Turn the DC current under coordinate, the calculation formula of the DC current under the rotational coordinates is:
Wherein,K is sliding formwork handoff gain;
According to DC current of the motor under rotational coordinates, closed-loop control is carried out to the angular speed of motor.
It is further used as preferred embodiment, the DC current according to motor under rotational coordinates, to motor Angular speed carries out the step for closed-loop control, includes the following steps:
DC current of the motor under rotational coordinates is mapped, DC current of the motor under static coordinate is obtained;
DC current of the motor under static coordinate is converted, the three-phase voltage of motor is obtained;
It is adjusted by conduction time of the pulse width to motor;
According to the conduction time of motor and three-phase voltage, the three-phase alternating current of motor is obtained;
According to the three-phase alternating current of motor, closed-loop control is carried out to the angular speed of motor.
It is further used as preferred embodiment, the step for the actual motion angle of the detection motor, is specially:
The actual motion angle of motor is detected by encoder or rotary transformer.
Corresponding with the method for Fig. 1, the present invention is based on the motor antidisturbance control systems of fractional order sliding formwork control, including:
Module is estimated in interference, is estimated to the interference size that motor is subject to, and interference discreet value is obtained;
Gain size computing module, for calculating the gain size of sliding formwork switching according to interference discreet value;
Sliding formwork control module, for the gain size according to calculating, using the sliding mode control algorithm based on fractional order to electricity The angular speed of machine carries out closed-loop control.
Corresponding with the method for Fig. 1, the present invention is based on the motor anti-interference control devices of fractional order sliding formwork control, including:
Memory, for storing program;
Processor is used for loading procedure, to execute the motor antidisturbance control of the invention based on fractional order sliding formwork control Method.
Referring to Fig. 2, below by taking specific electric machine control system as an example, the present invention is described in detail is based on fractional order sliding formwork control Motor anti-interference control method specific implementation step:
S1, the actual motion angle for detecting motor calculate the practical fortune of motor then according to the actual motion angle of motor Row angular speed.Step S1 is specially:Between encoder by being mounted on servo motor detects servo motor when detecting in T Then actual motion angle delta θ calculates the angular velocity omega of servo motor according to the following formula:
S2, the interference size that motor is subject to is estimated, obtains interference discreet value.
Wherein, step S2 includes the following steps:
S21, motor angular velocity is predicted, obtains angular speed discreet value, the calculation formula of the angular speed discreet value For:
Wherein,Represent the angular speed discreet value of motor;Represent interference discreet value;B represents coefficient of friction;J represents motor Rotary inertia;ω represents the actual motion angular speed of motor;N represents motor number of pole-pairs;L represents motor equivalent inductance;I represents electricity Machine equivalent current;k1For the first coefficient;
S22, the actual motion angular speed according to motor and angular speed discreet value calculate the interference discreet value that motor is subject to, It is described interference discreet value calculation formula be:
Wherein, k2For the second coefficient, k1And k2It is all larger than zero.
The present invention is estimated according to the state equation of the operation of motor to define calculation formula and the interference of angular speed discreet value The calculation formula of value;Eventually by the calculation formula of angular speed discreet value and the calculation formula of interference discreet value, motor is calculated The interference size being subject to;Wherein, the state equation of the motor is:
S3, the gain size switched according to interference discreet value, calculating sliding formwork, wherein the gain size K of the sliding formwork switching Calculation formula be:
One of key of the invention is exactly to select the size of sliding formwork handoff gain, can be in height if gain selection is excessive That fierceness is brought when frequency switching trembles shake, if gain selection is too small, to the no robustness of interference.The present invention is accurate by calculating Interference value, then make sliding formwork handoff gain be equal to the interference value, to realize optimal selection.
S4, the gain size according to calculating are carried out using angular speed of the sliding mode control algorithm based on fractional order to motor Closed-loop control.
Wherein, step S4 specifically includes following steps:
S41, fractional order sliding mode is calculated, the calculation formula of the fractional order sliding mode is:
Wherein, behalf fractional order sliding mode;Representative fraction rank differential operator;R represents derivative order, i.e., r(0<r<1) order derivative;T represents the time of integration upper limit;E represents the angular speed error of motor;
S42, fractional order sliding mode and gain size according to calculating calculate motor using fractional order sliding mode control algorithm The calculation formula of DC current under rotational coordinates, the DC current under the rotational coordinates is:
Wherein,K is sliding formwork handoff gain;
S43, DC current of the motor under rotational coordinates is mapped, obtains direct current of the motor under static coordinate Stream;Step S43 is realized using rotation transform module as shown in Figure 2.
S44, DC current of the motor under static coordinate is converted, obtains the three-phase voltage of motor;Step S44 is adopted It is realized with PWM module as shown in Figure 2.
S45, it is adjusted by conduction time of the pulse width to motor;
S46, the conduction time according to motor and three-phase voltage, obtain the three-phase alternating current of motor;Step S46 is used as schemed Inverter module shown in 2 is realized.
S47, the three-phase alternating current according to motor carry out closed-loop control to the angular speed of motor.Wherein, as shown in Figure 2 PMSM represents permanent magnet synchronous motor;R represents encoder or rotary transformer, for detecting the real time execution angle of motor.
In conclusion the present invention is based on motor anti-interference control method, system and devices based on fractional order sliding formwork control It has the following advantages that:
1), the present invention is based on accurate gain sizes to carry out sliding formwork control, not only can guarantee the strong of sliding mode control algorithm Robustness, but also can effectively inhibit and tremble shake, improve the precision of motor speed control.
2), the present invention is based on the calculus fields of fractional order to execute sliding mode control algorithm, further improve sliding formwork control The robustness of algorithm processed.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.

Claims (10)

1. the motor anti-interference control method based on fractional order sliding formwork control, it is characterised in that:Include the following steps:
The interference size that motor is subject to is estimated, interference discreet value is obtained;
According to interference discreet value, the gain size of sliding formwork switching is calculated;
According to the gain size of calculating, closed loop control is carried out using angular speed of the sliding mode control algorithm based on fractional order to motor System.
2. the motor anti-interference control method according to claim 1 based on fractional order sliding formwork control, it is characterised in that:Also Include the steps that the actual motion angular speed for obtaining motor.
3. the motor anti-interference control method according to claim 2 based on fractional order sliding formwork control, it is characterised in that:Institute The step for stating the actual motion angular speed for obtaining motor, includes the following steps:
Detect the actual motion angle of motor;
According to the actual motion angle of motor, the actual motion angular speed of motor is calculated.
4. the motor anti-interference control method according to claim 2 based on fractional order sliding formwork control, it is characterised in that:Institute The step for stating and estimate to the interference size that motor is subject to, obtaining interference discreet value, includes the following steps:
Motor angular velocity is predicted, obtain angular speed discreet value, the calculation formula of the angular speed discreet value is:
Wherein,Represent the angular speed discreet value of motor;Represent interference discreet value;B represents coefficient of friction;J represents motor rotation Inertia;ω represents the actual motion angular speed of motor;N represents motor number of pole-pairs;L represents motor equivalent inductance;I represents motor etc. Imitate electric current;k1For the first coefficient;
According to the actual motion angular speed of motor and angular speed discreet value, the interference discreet value that motor is subject to, the interference are calculated The calculation formula of discreet value is:
Wherein, k2For the second coefficient.
5. the motor anti-interference control method according to claim 4 based on fractional order sliding formwork control, it is characterised in that:Institute In the step for stating the gain size for calculating sliding formwork switching according to interference discreet value, the meter of the gain size K of the sliding formwork switching Calculating formula is:
6. the motor anti-interference control method according to claim 5 based on fractional order sliding formwork control, it is characterised in that:Institute State the gain size according to calculating, using the sliding mode control algorithm based on fractional order to the angular speed of motor carry out closed-loop control this One step, includes the following steps:
Fractional order sliding mode is calculated, the calculation formula of the fractional order sliding mode is:
Wherein, behalf fractional order sliding mode;Representative fraction rank differential operator;R represents derivative order;T is represented The time of integration upper limit;E represents the angular speed error of motor;
According to the fractional order sliding mode and gain size of calculating, motor is calculated using fractional order sliding mode control algorithm and is sat in rotation The calculation formula of DC current under mark, the DC current under the rotational coordinates is:
Wherein,K is sliding formwork handoff gain;
According to DC current of the motor under rotational coordinates, closed-loop control is carried out to the angular speed of motor.
7. the motor anti-interference control method according to claim 6 based on fractional order sliding formwork control, it is characterised in that:Institute The step for stating the DC current according to motor under rotational coordinates, closed-loop control carried out to the angular speed of motor, including it is following Step:
DC current of the motor under rotational coordinates is mapped, DC current of the motor under static coordinate is obtained;
DC current of the motor under static coordinate is converted, the three-phase voltage of motor is obtained;
It is adjusted by conduction time of the pulse width to motor;
According to the conduction time of motor and three-phase voltage, the three-phase alternating current of motor is obtained;
According to the three-phase alternating current of motor, closed-loop control is carried out to the angular speed of motor.
8. the motor anti-interference control method according to claim 3 based on fractional order sliding formwork control, it is characterised in that:Institute State detection motor actual motion angle the step for, be specially:
The actual motion angle of motor is detected by encoder or rotary transformer.
9. the motor antidisturbance control system based on fractional order sliding formwork control, it is characterised in that:Including:
Module is estimated in interference, is estimated to the interference size that motor is subject to, and interference discreet value is obtained;
Gain size computing module, for calculating the gain size of sliding formwork switching according to interference discreet value;
Sliding formwork control module, for the gain size according to calculating, using the sliding mode control algorithm based on fractional order to motor Angular speed carries out closed-loop control.
10. the motor anti-interference control device based on fractional order sliding formwork control, it is characterised in that:Including:
Memory, for storing program;
Processor is used for loading procedure, to execute such as the described in any item electricity based on fractional order sliding formwork control of claim 1-8 Machine anti-interference control method.
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