CN108958021A - A kind of design method of the linear motor PID controller of industrial robot - Google Patents
A kind of design method of the linear motor PID controller of industrial robot Download PDFInfo
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- CN108958021A CN108958021A CN201810740578.9A CN201810740578A CN108958021A CN 108958021 A CN108958021 A CN 108958021A CN 201810740578 A CN201810740578 A CN 201810740578A CN 108958021 A CN108958021 A CN 108958021A
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- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The present invention relates to a kind of design methods of the linear motor PID controller of industrial robot, belong to industrial robot techniques of linear motor field.In the design, the mathematical model of linear motor is initially set up, on the basis of linear motor mathematical model, determines the parameter of the PID controller of linear induction motor system, the Simulink being then based in MATLAB software carries out model buildings, and carries out simulation analysis.Since industrial robot working environment is more severe, there are more noise jamming, and therefore, the design is added to filter in PID controller, to reduce influence of the noise to system in working environment.Effective benefit of the invention is: designing the PID controller of New Type Linear Motor, it realizes to the parameter optimum apjustment of PID, can be used as the control program of industrial robot linear motor, in addition, it is added to filter in the design, influence of the ambient noise to linear motor control system can be reduced.
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: Traditional control technology, modern technologies and intelligent skill are basically divided into the research of DC MOTOR CONTROL technology
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.In recent years, fuzzy logic control, the intelligent control methods such as neural network are also introduced into the control of linear motor
In.
Although there are many methods for the control technology of linear motor, it is set about in terms of improving pid parameter adjusting, but ignores
The influence of linear motor running environment noise jamming, therefore, the present invention is on the basis that linear motor PID controller parameter determines
On, its filter is designed, to reduce environmental noise interference, simulation result shows that preferable effect can be obtained.
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
The preferable linear motor PID controller of noise reduction effect.
To solve the above problems, the present invention proposes the following technical solution:
A kind of design of the linear motor PID controller of industrial robot, includes the following steps:
Step 1) establishes the mathematical model of linear motor according to the operation characteristic and parameter of linear motor；
Step 2 builds the simulation model of linear motor PID controller under MATLAB software Simulink environment；
Step 3) determines the parameter of PID controller on the basis of linear motor mathematical model, it may be assumed that Proportional coefficient K p, integration system
Number Ki and differential coefficient Kd；
Step 4) linear motor PID controller Front-end Design filter, to reduce environmental noise to linear induction motor system
It influences；
The foundation of the mathematical model of linear motor in the step 1) 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) they are output quantity, U(t) it is input quantity.
The transmission function between linear motor displacement and control voltage can be obtained according to the dynamic model structure figure of linear motor are as follows:
(2)
Wherein, X (s) is linear motor displacement, and U (s) is control voltage,For the electromagnetic time constant of wire loop, s is to draw
The variable in the domain s after Laplace transform.
Formula (2) is the mathematical model that linear motor is used to analyze its dynamic response characteristic.
Simulation model particular content is built in the step 2 under Simulink environment are as follows: calculate according to the parameter value of linear motor
Its specific transmission function out, then adds signal generating module, and the design selects sinusoidal signal, then add PID module with
And oscillograph etc., finally reconnect each module.
Determine that the parameter of linear induction motor system PID controller includes following content in the step 3):
PID control is proportional integral differential control, and PID controller is by proportional unit (P), integral unit (I) and differential
Unit (D) composition is a kind of based on " past ", " present ", the simple algorithm of " future " information estimation.The parameter of PID controller
The size of as Proportional coefficient K p, integral coefficient Ki and differential coefficient Kd, these three numbers affect the stability of system, the present invention
The parameter that PID controller is determined using trial and error procedure adjusts parameter and carries out first ratio, rear integral, then the adjusting step of differential.
Specific step is as follows:
Proportional parts is adjusted first.By scale parameter have it is small become larger, and the response of corresponding system is observed, until being reacted
Fastly, the small response curve of overshoot；
In stepOn the basis of, due to Ki=Kp/Ti (Ti is integration time constant), it will first be set to one the time of integration
Then the proportionality coefficient mixed up is slightly reduced, then reduces the time of integration by bigger value, so that system is keeping good
In the case where dynamic property, static difference is eliminated；
In stepOn the basis of, since Kd=Kp*Td(Td is derivative time constant), derivative time is set as 0 first,
Derivative time, while corresponding change proportionality coefficient and integral coefficient are gradually increased on this basis, and gradually examination is gathered, until obtaining
Satisfied regulating effect.
The particular content of filter is set in the step 4) are as follows: on the basis of step 3) simulation model is built, passes through addition
Then white noise adds filter to simulate the interference in actual environment, and its parameter is arranged, and observes its filter effect.
The particular content of the addition filter are as follows: the frequency as contained in white noise is wider, and the present invention first adds
Low-pass filter, and its noise reduction effect is observed, bandpass filter is then added again, observes its noise reduction effect, final choice noise reduction
Preferable filter.
Beneficial effects of the present invention: 1) filter is added to PID controller, ambient noise can be effectively reduced to the shadow of system
It rings；2) low cost of the present invention, principle is simple, is easy to user's understanding；3) it is mentioned for the linear motor control that industrial robot uses enough
A kind of new control program.
Detailed description of the invention
Invention is described further with reference to the accompanying drawing.
Fig. 1 is the Simulink simulation model (being not added with filter) of the linear motor PID controller of present example.
Fig. 2 is the Simulink simulation model (addition filter) of the linear motor PID controller of present example.
Fig. 3 is the simulation data figure (have interference, but be not added with filter) of present example.
Fig. 4 is the simulation figure (having interference, add low-pass filter) of present example.
Fig. 5 is the simulation figure (having interference, add bandpass filter) 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.
Table 1
The particular content of this programme is as follows:
1. a kind of design of the linear motor PID controller of industrial robot, characterized in that include the following steps:
Step 1) establishes the mathematical model of linear motor according to the operation characteristic and parameter of linear motor, 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) they are output quantity, U(t) it is 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 to draw
The variable in the domain s after Laplace transform.
Formula (2) is the mathematical model that linear motor is used to analyze 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 builds the simulation model of linear motor PID controller under MATLAB software Simulink environment.Wherein exist
Simulation model particular content is built under Simulink environment are as follows: its specific transmitting letter is calculated according to the parameter value of linear motor
Then number adds signal generating module, the design selects sinusoidal signal, then adds PID module and oscillograph etc., finally again
Each module is connected, simulation model is as shown in Figure 1；
Step 2 determines the parameter of PID controller on the basis of linear motor mathematical model, it may be assumed that proportionality coefficient, integral coefficient
And differential coefficient, wherein the parameter for determining linear induction motor system PID controller includes following content:
PID control is proportional integral differential control, and PID controller is by proportional unit (P), integral unit (I) and differential
Unit (D) composition is a kind of based on " past ", " present ", the simple algorithm of " future " information estimation.The parameter of PID controller
The size of as Proportional coefficient K p, integral coefficient Ki and differential coefficient Kd, these three numbers affect the stability of system, the present invention
The parameter that PID controller is determined using trial and error procedure adjusts parameter and carries out first ratio, rear integral, then the adjusting step of differential.
Specific step is as follows:
Proportional parts is adjusted first.By scale parameter have it is small become larger, and the response of corresponding system is observed, until being reacted
Fastly, the small response curve of overshoot；
In stepOn the basis of, due to Ki=Kp/Ti (Ti is integration time constant), it will first be set to one the time of integration
Then the proportionality coefficient mixed up is slightly reduced, then reduces the time of integration by bigger value, so that system is keeping good
In the case where dynamic property, static difference is eliminated；
In stepOn the basis of, since Kd=Kp*Td(Td is derivative time constant), derivative time is set as 0 first,
Derivative time, while corresponding change proportionality coefficient and the time of integration are gradually increased on this basis, and gradually examination is gathered, until obtaining
Satisfied regulating effect.
Simulation model according to figure 1, then by trial and error procedure, the parameter of the available PID controller be Kp=
441750, Ti=16.4, Td=0.02.
Step 4) linear motor PID controller Front-end Design filter, to reduce environmental noise to linear induction motor system
It influences.It is provided with the particular content of filter are as follows: on the basis of step 3) simulation model is built, by adding white noise,
The interference in actual environment is simulated, then add filter, and its parameter is set, observes its filter effect, such as Fig. 2, is straight
Line motor adds the simulation model after filter.
Wherein add the particular content of filter are as follows: the frequency as contained in white noise is wider, and the present invention first adds low
Bandpass filter, and observe its noise reduction effect, then adds bandpass filter again, observes its noise reduction effect, final choice noise reduction compared with
Good filter.
Fig. 3 is that system has noise jamming but is not added with the system signal output figure of filter, it is seen that system interference is serious, with input
Signal waveform difference is very big, and wave distortion is serious.
Fig. 4, Fig. 5 are respectively to add low-pass filter, after bandpass filter, the output signal of system.It can be seen from the figure that adding
Add band with filter after, the output signal and input signal of system are even more like, deform it is also smaller.Although bandpass filter
Filter effect is preferable, but its dynamic response is slower, from fig. 5, it can be seen that the output waveform of oscillograph just has waveform since 2s,
That is low-response, and from fig. 4, it can be seen that the output waveform of low-pass filter has just had waveform from 0.5s.
By Fig. 3 and Fig. 5 it is found that the anti-interference ability of system is more preferable after addition filter, output signal distortion very little.
Claims (6)
1. a kind of design method of the linear motor PID controller of industrial robot, characterized in that include the following steps:
Step 1) establishes the mathematical model of linear motor according to the operation characteristic and parameter of linear motor；
Step 2 builds the simulation model of linear motor PID controller under MATLAB software Simulink environment；
Step 3) determines the parameter of PID controller on the basis of linear motor mathematical model, it may be assumed that Proportional coefficient K p, integration system
Number Ki and differential coefficient Kd；
Step 4) linear motor PID controller Front-end Design filter, to reduce environmental noise to linear induction motor system
It influences.
2. the design method of the linear motor PID controller of industrial robot according to claim 1, characterized in that institute
The foundation for stating the mathematical model of the linear motor in step 1) includes following content:
According to the kinetic characteristic of linear motor and dynamic characteristic it is found that the linear motor differential equation are as follows:
(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) they are output quantity, U(t) it is input quantity；
The transmission function between linear motor displacement and control voltage can be obtained according to the dynamic model structure figure of linear motor are as follows:
(2)
Wherein, X (s) is linear motor displacement, and U (s) is control voltage,For the electromagnetic time constant of wire loop, s is to draw
The variable in the domain s after Laplace transform.
3. the design method of the linear motor PID controller of industrial robot according to claim 1, characterized in that institute
It states and builds simulation model particular content in step 2 under Simulink environment are as follows: its tool is calculated according to the parameter value of linear motor
Then the transmission function of body adds signal generating module, the design selects sinusoidal signal, then adds PID module and oscillography
Device etc. finally reconnects each module.
4. the design of the linear motor PID controller of industrial robot according to claim 1, characterized in that the step
It is rapid 3) in determine linear induction motor system PID controller parameter include following content:
PID control is proportional integral differential control, and PID controller is by proportional unit (P), integral unit (I) and differential
Unit (D) composition is a kind of based on " past ", " present ", the simple algorithm of " future " information estimation, the parameter of PID controller
The size of as Proportional coefficient K p, integral coefficient Ki and differential coefficient Kd, these three numbers affect the stability of system, the present invention
The parameter that PID controller is determined using trial and error procedure adjusts parameter and carries out first ratio, rear integral, then the adjusting step of differential.
Specific step is as follows:
Adjust proportional parts first, by scale parameter have it is small become larger, and the response of corresponding system is observed, until being reacted
Fastly, the small response curve of overshoot；
In stepOn the basis of, due to Ki=Kp/Ti (Ti is integration time constant), it will first be set to one the time of integration
Then the proportionality coefficient mixed up is slightly reduced, then reduces the time of integration by bigger value, so that system is keeping good
In the case where dynamic property, static difference is eliminated；
In stepOn the basis of, since Kd=Kp*Td(Td is derivative time constant), derivative time is set as 0 first,
Derivative time, while corresponding change proportionality coefficient and integral coefficient are gradually increased on this basis, and gradually examination is gathered, until obtaining
Satisfied regulating effect.
5. the design of the linear motor PID controller of industrial robot according to claim 1, characterized in that the step
It is rapid 4) in setting filter particular content are as follows: built in step 2 simulation model and on the basis of pid parameter, it is white by adding
Then noise adds filter to simulate the interference in actual environment, and its parameter is arranged, and observes its filter effect.
6. the design method of the linear motor PID controller of industrial robot according to claim 5, characterized in that institute
The particular content for the addition filter stated are as follows: first add low-pass filter, and observe its noise reduction effect, then add band logical filter again
Wave device observes its noise reduction effect, the preferable filter of final choice noise reduction.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114488780A (en) * | 2022-03-21 | 2022-05-13 | 浙江中控技术股份有限公司 | PID control method and PID controller |
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2018
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| US20140081427A1 (en) * | 2011-05-27 | 2014-03-20 | Politechnika Swietokrzyska | Tuning methods of the pi and pid controllers parameters |
| CN106406091A (en) * | 2016-09-26 | 2017-02-15 | 华南理工大学 | PID control method and system of electromagnetic-driven micromirror |
| CN107276477A (en) * | 2017-07-07 | 2017-10-20 | 南京工程学院 | A kind of linear electric motors method for control speed based on DOB and PFC |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114488780A (en) * | 2022-03-21 | 2022-05-13 | 浙江中控技术股份有限公司 | PID control method and PID controller |
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