CN108964526A - Motor torque oscillation compensation method, apparatus and motor control assembly - Google Patents
Motor torque oscillation compensation method, apparatus and motor control assembly Download PDFInfo
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- CN108964526A CN108964526A CN201810679985.3A CN201810679985A CN108964526A CN 108964526 A CN108964526 A CN 108964526A CN 201810679985 A CN201810679985 A CN 201810679985A CN 108964526 A CN108964526 A CN 108964526A
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of motor torque oscillation compensation method, apparatus and motor control assembly, compensation device includes: torque ripple data obtaining module, for extracting torque ripple information table from the output signal of speed regulator；First current compensation component generation module, for generating the first current compensation component according to the torque ripple information table, the first current compensation component is for compensating into the motor control assembly in the current-order of electric current loop；Compensated torque information determination module, for when the speed of service fluctuation of the motor is stablized within a preset range, the torque ripple information table is determined as compensated torque information table, the present invention can be when hardware optimization encounters bottleneck, torque ripple level is further substantially improved, and it can be in lower speed ring gain, realize stable speed control, engineering goods can also be produced to the degree for assembling consistency level promotion to electronic product conformity of production level in torque ripple minimization level simultaneously.
Description
Technical field
The present invention relates to motor driven systems more particularly to a kind of motor torque oscillation compensation method, apparatus and motor controls
Device processed.
Background technique
Three-phase AC permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM, hereinafter referred to as
For PMSM), have many advantages, such as that response is fast, power density is high, robustness is good.The AC synchronous sampling being made of PMSM, is answered extensively
For in the high performance tracking control system such as lathe, high ray machine, carving machine, Wood carving machine.
In motor operation course, with the variation of rotor-position, due to air gap flux linkage spatial distribution non-sine and stator slot
Structural magnetic resistance mutation, motor shaft end can generate periodical torque ripple near mouthful.Torque ripple causes velocity perturbation, influences to watch
Performance is taken, it is poor to show as workpieces processing remained on surface visual striation, finish in certain track applications.In addition, torque ripple frequency
Rate changes with motor operation velocity variations, when the natural machanical frenquence of electromagnetic force wave frequency and drive system is close, and two
When person's mode of oscillation is identical, it may occur that significantly energy exchange excites strong mechanical resonance, generates vibrating noise, or even make
At mechanical failure.
By optimization motor electromagnetic design, supplied materials quality is controlled, specification production technology can reduce to a certain extent and turn
Square fluctuation, but cannot completely eliminate, and often introduce cost increase by a relatively large margin.It can be with by improving speed loop bandwidth
Guarantee velocity control accuracy, reduces velocity perturbation, but torque control performance can not be promoted, and certain occasions do not allow for
The degree to match with application demand is drawn high in speed ring gain.
Summary of the invention
The technical problem to be solved in the present invention is that the above-mentioned hardware optimization for the prior art encounters bottleneck, improves speed
Degree ring gain can not promote torque control performance and certain occasions do not allow for speed ring gain to draw high and application demand phase
The defect of matched degree provides a kind of motor torque oscillation compensation method, apparatus and motor control assembly.
The technical solution adopted by the present invention to solve the technical problems is: a kind of motor torque wave motion compensator is constructed,
Include:
Torque ripple data obtaining module, for extracting torque ripple information table from the output signal of speed regulator,
The speed regulator is located in motor control assembly；
First current compensation component generation module, for generating the first current compensation point according to the torque ripple information table
Amount, the first current compensation component is for compensating into the motor control assembly in the current-order of electric current loop；
Compensated torque information determination module, when fluctuating stabilization within a preset range for the speed of service in the motor,
The torque ripple information table is determined as compensated torque information table.
The invention also discloses a kind of motor torque wave motion compensators, comprising:
Torque ripple data obtaining module, for extracting torque ripple information table from the output signal of speed regulator,
The speed regulator is located in motor control assembly；
First current compensation component generation module, for generating the first current compensation point according to the torque ripple information table
Amount, the first current compensation component is for compensating into the motor control assembly in the current-order of electric current loop；
Compensated torque information determination module, when fluctuating stabilization within a preset range for the speed of service in the motor,
The torque ripple information table is determined as compensated torque information table, and the compensated torque information table is stored to the motor
Storage unit in；
Second current compensation component generation module, for when the motor control assembly powers on, from the storage unit
It is middle to obtain the compensated torque information table, and in the motor operation, according to compensated torque described in motor position information searching
Information table, to obtain corresponding second current compensation component；
Wherein, the torque ripple information table includes the corresponding relationship of the motor position information and torque ripple, described
Second current compensation component is for compensating into the motor control assembly in the current-order of electric current loop.
In a specific scheme, the torque ripple data obtaining module, for being stablized in motor with pre-set velocity
When operation, torque ripple information table is extracted from the output signal of the speed regulator according to predetermined period；
The compensated torque information determination module will be described for when the speed of service fluctuation of the motor goes to zero
Torque ripple information table is determined as compensated torque information table.
In a specific scheme, the storage unit is the nonvolatile memory in encoder.
In a specific scheme, described device further include:
Location information progress differential is obtained motor speed for reading motor position information in encoder by differentiator
Degree；
Subtracter, for determining that velocity deviation is believed according to the motor speed of the reference velocity of input and differentiator output
Breath；
Speed regulator, for exporting current-order according to the velocity deviation information；
Adder, an input terminal are connected to the output end of the speed regulator, another input terminal is connected to described
The output end of the output end of first current compensation component generation module or the second current compensation component generation module, is used for
The first current compensation component or the second current compensation component are added in the current-order of the speed regulator output；
Current controller, the current-order of the superposition for being exported according to the adder drive the motor operating.
The invention also discloses a kind of motor control assemblies, including motor torque wave motion compensator as described above.
The invention also discloses a kind of motor torque oscillation compensation methods, comprising:
Torque ripple information table is extracted from the output signal of speed regulator, the speed regulator is located at motor control
In device；
The first current compensation component is generated according to the torque ripple information table, the first current compensation component is for mending
It repays into the motor control assembly in the current-order of electric current loop；
When the speed of service fluctuation of the motor is stablized within a preset range, the torque ripple information table is determined as
Compensated torque information table.
The invention also discloses a kind of motor torque oscillation compensation methods, comprising:
Torque ripple information table is extracted from the output signal of speed regulator, the speed regulator is located at motor control
In device；
The first current compensation component is generated according to the torque ripple information table, the first current compensation component is for mending
It repays into the motor control assembly in the current-order of electric current loop；
When the speed of service fluctuation of the motor is stablized within a preset range, the torque ripple information table is determined as
Compensated torque information table, and the compensated torque information table is stored into the storage unit of the motor；
When the motor control assembly powers on, the compensated torque information table is obtained from the storage unit, and
When the motor operation, according to compensated torque information table described in motor position information searching, to obtain corresponding second electric current
Compensate component；
Wherein, the torque ripple information table includes the corresponding relationship of the motor position information and the torque ripple,
The second current compensation component is for compensating into the motor control assembly in the current-order of electric current loop.
In a specific scheme, torque ripple information table, tool are extracted in the output signal from speed regulator
Body include: motor with pre-set velocity stable operation when, extracted from the output signal of the speed regulator according to predetermined period
Torque ripple information table；
It is when the speed of service in the motor fluctuates stabilization within a preset range, the torque ripple information table is true
It is set to compensated torque information table, specifically includes: when the speed of service fluctuation of the motor goes to zero, the torque ripple is believed
Breath table is determined as compensated torque information table.
In a specific scheme, the storage unit is the nonvolatile memory in encoder.
In a specific scheme, the method also includes:
Motor position information in encoder is read, location information progress differential is obtained into motor speed；
Velocity deviation information is determined according to the reference velocity of input and the motor speed；
Current-order is exported according to the velocity deviation information；
The first current compensation component or the second current compensation component are added in the current-order, and according to folded
The current-order added drives the motor operating.
The invention also discloses a kind of motor torque wave motion compensators, which is characterized in that including storage device and processing
Device is stored with the code for processing unit operation in the storage device, to execute above-mentioned method.
Motor torque oscillation compensation method, apparatus of the invention and motor control assembly, have the advantages that this hair
Torque ripple information table is extracted in the bright output signal from speed regulator, is converted to current compensation component, and compensated
It returns in the current-order of electric current loop, torque ripple level can further be substantially improved when hardware optimization encounters bottleneck, and
Stable speed control can be realized, while can also be in torque ripple minimization level, by machine in lower speed ring gain
Tool production assembles consistency level promotion to the degree of electronic product conformity of production level.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings:
Fig. 1 is the structural schematic diagram for the motor torque wave motion compensator that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram of motor torque wave motion compensator provided by Embodiment 2 of the present invention；
Fig. 3 is the offset data schematic diagram in embodiment two in a specific embodiment；
Fig. 4 is the motor speed comparison diagram of the extractor effect front and back in embodiment two in a specific embodiment；
Fig. 5 is the motor speed schematic diagram after the compensator effect in embodiment two in a specific embodiment；
Fig. 6 is the structural schematic diagram for the motor control assembly that the embodiment of the present invention three provides；
Fig. 7 is the flow chart for the motor torque oscillation compensation method that the embodiment of the present invention four provides；
Fig. 8 is the flow chart for the motor torque oscillation compensation method that the embodiment of the present invention five provides；
Fig. 9 is the structural schematic diagram for the motor control assembly that the embodiment of the present invention six provides.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give exemplary embodiments of the invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Thinking of the invention is introduced first:
Square vibration frequency is directly proportional to motor speed, fsl=Nsl× n ÷ 60, fpl=Npl× n ÷ 60, fslIt indicates by stator
Vibration frequency caused by slotting；NslIndicate number of stator slots；N indicates motor speed；fplIndicate wave caused by being distorted by rotor field
Dynamic frequency；NplIndicate rotor number of poles.
In permanent torque workspace, the frequency band of motor torque fluctuation covering is probably within the scope of 0~3000Hz；Torque ripple
Influence to speed, the low-frequency component less than 100Hz are inhibited by speed regulator；Radio-frequency component higher than 2000Hz is turned by motor
Sub- inertia filters out；The intermediate frequency component of 100~2000Hz is the key frequency band for causing velocity perturbation, can pass through appropriate modulating motor
Stator current generates the torque opposite with torque ripple ingredient to offset.The electromagnetic torque that motor generates can be expressed from the next:
Te=| Ψs×is|=| (Ls*is+ψs)×is| (1)
Subscript s indicates rest frame, ΨsIndicate motor gas-gap flux linkage space vector；isIndicate the electricity that machine winding flows through
Fluid space vector.Ls*isItem can characterize reluctance torque, and the influence that motor stator is slotted to torque ripple is introduced by this；ψs
Indicate that rotor flux, the torque ripple that back-emf harmonic wave introduces are introduced by this.
When implementing Frequency conversion control, generally by isIt is applied to ΨsVertical direction.When air gap flux linkage, which exists, to distort,
Have:
Te+ δ T=| (Ψs+δΨs)×is| (2)
δΨsFor air gap flux linkage distortion ingredient；δ T is torque ripple ingredient.By formula (2) it is found that when air gap flux linkage space point
When cloth non-sine, even if stator current is ideal current waveform, however it remains torque ripple.It therefore, can be by introducing stator
Current offset values icomp, so that torque ripple components δ T ≡ 0 in formula (3).
Te+ δ T=| (Ψs+δΨs)×(is+icomp)| (3)
As the above analysis, motor torque oscillation compensation can be realized by introducing current compensation.Again according to mechanical system
The equation of motion:
When there are torque ripple δ T, necessarily causes velocity perturbation δ ω, has:
(5) are subtracted (4) to obtain:
According to (6) formula, the present invention extracts torque ripple from velocity perturbation, is converted into current compensation and instructs and incite somebody to action
Its Contrary compensation returns in electric current loop, gone to zero with the torque ripple (δ T=0, namelyAnd ω=0 δ) it is control mesh
Mark carries out feedback control.
Based on the above thinking, the total design of the present invention is: torque ripple letter is extracted from the output signal of speed regulator
Cease table；The first current compensation component is generated according to the torque ripple information table, the first current compensation component is for compensating
Into the current-order of electric current loop in the motor control assembly；Stablize in the speed of service fluctuation of the motor in preset range
When interior, the torque ripple information table is determined as compensated torque information table, i.e., is obtained by constantly observation study final
Compensated torque information table.
It, can also be with it should be noted that the process that above-mentioned observation study obtains compensated torque information table can carry out online
It is offline to carry out.Compensated torque information table can be obtained by observing study offline and store to motor encoder, then in electricity
Machine control device reads the online compensation that compensated torque information table carries out torque ripple from encoder after powering on；It can also pass through
Live online observation study obtains compensated torque information table, then directly carries out the online compensation of torque ripple.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
It states technical solution to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application
The detailed description of technical solution, rather than the restriction to technical scheme, in the absence of conflict, the present invention are implemented
Technical characteristic in example and embodiment can be combined with each other.
Embodiment one
With reference to Fig. 1, embodiment one discloses a kind of motor torque wave motion compensator that can cooperate with standard drive ring,
It is understood that standard drive ring and compensation device can be integrated in simultaneously in a motor control assembly, can also will mend
Device is repaid to cooperate separately as a device and the existing motor control assembly comprising standard drive ring.M indicates motor in figure,
E presentation code device, S indicate that differentiator, ASR indicate that speed regulator, ACR indicate current controller.The compensation of the present embodiment structure
Device and standard drive ring cooperate, and undertake the compensation of torque ripple, which includes torque ripple data obtaining module
101, the first current compensation component generation module 102 and compensated torque information determination module 103, the embodiment of the present invention standard are driven
Rotating ring includes: differentiator 104, subtracter 105, speed regulator 106, adder 107, current controller 108.Below to each
The function of device is described in detail.
Torque ripple data obtaining module 101, for when motor is with pre-set velocity stable operation, according to predetermined period from
Torque ripple information table is extracted in the output signal of the speed regulator, square fluctuation information table includes the motor position information
With the corresponding relationship of torque ripple.
First current compensation component generation module 102, for generating different motor positions according to the torque ripple information table
Confidence ceases corresponding first current compensation component, and the first current compensation component is for compensating into the motor control assembly
In the current-order of electric current loop, Iq in figurelearnIndicate the first current compensation component.
Compensated torque information determination module 103 is stablized within a preset range for the speed of service fluctuation in the motor
When, the torque ripple information table is determined as compensated torque information table.
Differentiator 104, for reading motor position information θ in encoderfdb, by the location information θfdbDifferential is carried out to obtain
To motor speed ωfdb；
Subtracter 105, for the reference velocity ω according to inputrefWith the motor speed ω of the differentiator 104 outputfdb
Determine velocity deviation information δ ω；
Speed regulator 106, for exporting current-order according to the velocity deviation information δ ω；
Adder 107, an input terminal connect the output end of the speed regulator 106, another input terminal connects institute
The output end for stating the first current compensation component generation module 102, for export the first current compensation component generation module 102
Current compensation component IqlearnIt compensates in the current-order that the speed regulator 106 exports；
Current controller 108, the current-order driving motor operating of the superposition for being exported according to the adder 107.
In addition, compensated torque information determination module 103 is incited somebody to action when the speed of service of motor fluctuates stabilization within a preset range
The torque ripple information table is determined as compensated torque information table, i.e., updates torque ripple information table as motor is constantly run,
It goes to zero until the speed of service of motor fluctuates, and torque ripple information table will be finally obtained and be defined as compensated torque information table.
Preferably, compensated torque information determination module 103 can be when the speed of service of motor be fluctuated and is gone to zero, it will be described
Torque ripple information table is determined as compensated torque information table, i.e., when the speed of service fluctuation of motor goes to zero, obtained torque
The effect of compensated information table is more excellent.
It should be noted that the motor torque wave motion compensator of the present embodiment one, observation study obtains compensated torque letter
The process of breath table can carry out online, can also carry out offline.Compensated torque information can be obtained by observing study offline
Table is simultaneously stored to motor encoder, is then read compensated torque information table from encoder after motor control assembly powers on and is carried out
The online compensation of torque ripple；It can also learn to obtain compensated torque information table by live online observation, then directly carry out
The online compensation of torque ripple.
Embodiment two
In order to meet application demand, the efficiency and effect of compensation are improved, embodiment two proposes first in ideal experimental ring
Compensated torque information table is obtained by observation study offline under border, existing compensated torque information table is recycled to carry out online compensation
Scheme.Specifically, the compensation device in the present embodiment includes:
Torque ripple data obtaining module 201, for when motor is with pre-set velocity stable operation, according to predetermined period from
Torque ripple information table is extracted in the output signal of the speed regulator, square fluctuation information table includes the motor position information
With the corresponding relationship of torque ripple.
First current compensation component generation module 202, for generating different motor positions according to the torque ripple information table
Confidence ceases corresponding first current compensation component, and the first current compensation component is for compensating into the motor control assembly
In the current-order of electric current loop, Iq in figurelearnRepresent the first current compensation component；
Compensated torque information determination module 203 is stablized within a preset range for the speed of service fluctuation in the motor
When, the torque ripple information table is determined as compensated torque information table, and the compensated torque information table is stored to described
In the storage unit of motor.In order to meet application demand, compensated torque information table is arrived via path R1 by communication protocol storage
In the nonvolatile memory of motor encoder, i.e. the storage unit nonvolatile memory that is specially motor encoder, in this way
Motor and torque ripple offset data are just formd into one-to-one relationship
Preferably, compensated torque information determination module 203 can be when the speed of service of motor be fluctuated and is gone to zero, it will be described
Torque ripple information table is determined as compensated torque information table, i.e., when the speed of service fluctuation of motor goes to zero, obtained torque
The effect of compensated information table is more excellent.
Second current compensation component generation module 209, it is single from the storage for when the motor control assembly powers on
The compensated torque information table is obtained in member, and in the motor operation, according to motor position information (specially motor angle
θfdb) the compensated torque information table is searched, to obtain corresponding second current compensation component.Iq in figurecompRepresent the second electricity
Stream compensation component.Wherein, the second current compensation component IqcompFor compensating into the motor control assembly electric current loop
In current-order.
Differentiator 204, for reading motor position information θ in encoderfdb, by the location information θfdbDifferential is carried out to obtain
To motor speed ωfdb；
Subtracter 205, for the reference velocity ω according to inputrefWith the motor speed ω of the differentiator 204 outputfdb
Determine velocity deviation information δ ω；
Speed regulator 206, for exporting current-order according to the velocity deviation information δ ω；
Adder 207, an input terminal are connected to the output end of speed regulator 206, another input terminal is connected to
The output end of the output end of one current compensation component generation module 202 or the second current compensation component generation module 209, is used for
By the first current compensation component IqlearnOr the second current compensation component IqcompThe speed regulator 206 that is added to exports
Current-order in；
Current controller 208, the current-order driving motor operating of the superposition for being exported according to adder 207.
The torque ripple compensation of the present embodiment includes two stages, and wherein the first stage is that torque ripple observes study offline
Stage passes through torque ripple data obtaining module 201, the first current compensation component generation module 202 and compensated torque information
The purpose of 203 3 Implement of Function Module of determining module, first stage is required for obtaining second stage (online compensation stage)
Compensated torque information table；Wherein second stage is the online compensation stage, is realized by the second current compensation component generation module 209,
Compensated torque information table for being obtained according to the first stage carries out online torque ripple compensation.
It should be noted that the motor torque wave motion compensator of the present embodiment two, the observation of first stage learns to obtain
The process of compensated torque information table is carried out using offline mode, it can obtains compensated torque information table by observing study offline
And it stores to motor encoder；Second stage is applied when motor control assembly powers on every time, from encoder in the present embodiment
Compensated torque information table is read, to carry out the online compensation of torque ripple.
In addition, the first current compensation component generation module 202 and the second current compensation component generation module 209 in the present invention
Non-concurrent to use, the process of the present embodiment for ease of description depicts a switch S1 to aid in illustrating first in Fig. 2
The use opportunity of current compensation component generation module 202 and the second current compensation component generation module 209.Correspondingly, this implementation
In example, another input terminal of adder passes through the first current compensation of switch S1 connection component generation module 202 or the second electricity
The output of stream compensation component generation module 209, for mending the first electric current of the first current compensation component generation module output 202
Repay component IqlearnOr second current compensation component generation module 209 export the second current compensation component IqcompCompensate institute
It is exported after stating the current-order of speed regulator output.
It is to be appreciated that switch S1 herein does not represent real hardware switch, modules are not represented really yet
Separate hardware, only functional device can be integrated in motor control assembly with standard drive ring jointly in a software form.
In the present embodiment, the dispatching cycle of standard drive ring is T1, compensation device be set one dispatching cycle T2, mend
When repaying, established standards drive ring is run on velocity mode and controls motor and traveled at the uniform speed with pre-set velocity first, i.e. ωrefSetting
For pre-set velocity, the motor operation period is denoted as T3 at this time.In the present embodiment, for convenience of calculation, T2=mT1, T3=are set
NT2, m, n are positive integer.It is 10 pole, 12 slot PMSM, i.e. N that motor is tested in the present embodimentpl=10, Nsl=12.Due to starting to mend
It is when repaying and unstable, thus compensated torque information determination module 203 the motor the speed of service fluctuation go to zero when,
The torque ripple information table that just torque ripple data obtaining module 201 is newly extracted is as compensated torque information table.Such as Fig. 3
It is shown, 991 are taken by n in this present embodiment, so the data in Fig. 3 there are 991, wherein abscissa represents a motor operation week
The motor position information (abscissa value k then means that motor position is k*T2/T3*2 π) compensated every time in phase T3, indulges and sits
Mark represents the torque ripple extracted, so the motor that the second current compensation component generation module 209 can be acquired according to encoder
Position (motor angle θfdb) its corresponding second current compensation component Iq is found from Fig. 3comp。
The course of work of the present embodiment is as follows: when switch S1 is placed in the position P1, torque ripple data obtaining module 201 from
Torque ripple information table is extracted in the output signal of speed regulator, the first current compensation component generation module 202 is according to described
Torque ripple information table generates the first current compensation component Iqlearn, compensated into the current-order of electric current loop, so constantly
Extraction torque ripple information table constantly update Iqlearn, finally make motor operation rotational speed omegafdbSteadily, i.e., motor operation is fast
Degree fluctuation goes to zero, and finally obtains compensated torque information table.Fig. 4 illustrates compensation device and acts on successive velocity perturbation comparison
Figure, before switch S1 closure, compensation device is not compensated, and standard drive ring driving motor is only relied only on, if there is torque
Fluctuation, then the speed of motor operation can not obtain good control effect, and as shown in left data in Fig. 4, speed presence is very big
Fluctuation.But if switch S1 is placed in the position P1, as shown in right side data in Fig. 4, control effect is obviously improved very much.
In application, with reference to Fig. 2, read out compensated torque information table from motor encoder when motor control assembly powers on every time,
Decode the second current compensation component Iq of multiple motor position informationcomp, as shown in Figure 3；Then, switch S1 is placed in P2
It sets, by the second current compensation component IqcompIt is applied in standard driving loop, then motor shaft end torque ripple ingredient is had
Effect inhibits, even if velocity feedback is still very steady under the conditions of low gain.Fig. 5 is speed ring gain Kp=25Hz, speed ring product
Be divided into 31.83ms, rotational speed setup 30rpm, in the case of velocity feedback situation, as can be seen from Figure 5 after torque ripple compensates
Motor essentially eliminate torque ripple, realize even pace's control.
Embodiment three
With reference to Fig. 6, embodiment three discloses a kind of motor control assembly comprising compensation device 601 and standard drive ring
602, wherein compensation device 601 can be using the motor torque wave motion compensator in above-described embodiment one or embodiment two, mark
Quasi- drive ring 602 may include for differentiator 6021, subtracter 6022, speed regulator 6023, adder 6024, current control
Device 6025, specific connection relationship and function can refer to the above embodiments one or embodiment two, and details are not described herein again.
It is pointed out that embodiment one, in the description of various modules, device, is divided into these moulds into embodiment three
Block, device are for clarity.However, the boundary of various modules or device can be fuzzy in actual implementation.Example
Such as, any or all functionalities module herein can share various hardware and/or software element.In another example herein
Any and/or all functional modules can execute software instruction by shared processor completely or partially to implement.In addition, by one
The various software submodules that a or multiple processors execute can be shared between various software modules.Correspondingly, except non-clearly wanting
It asks, mandatory boundary is not limited the scope of the present invention between by various hardware and/or software element.
Example IV
Based on the inventive concept being the same as example 1, the present embodiment also discloses a kind of motor torque oscillation compensation side
Method, this method comprises:
Step 701: torque ripple information table is extracted from the output signal of speed regulator, the speed regulator is located at
In motor control assembly.Specially when motor is with pre-set velocity stable operation, according to predetermined period from the speed regulator
Output signal in extract torque ripple information table, square fluctuation information table includes pair of the motor position information and torque ripple
It should be related to.
Wherein, the torque ripple information table includes the corresponding relationship of the motor position information and torque ripple.
Step 702: the first current compensation component, first current compensation point are generated according to the torque ripple information table
Amount is for compensating into the motor control assembly in the current-order of electric current loop；
Step 703: when the speed of service fluctuation of the motor is stablized within a preset range, by the torque ripple information
Table is determined as compensated torque information table.
Preferably, torque ripple information table is determined as compensated torque letter when the speed of service fluctuation of motor goes to zero
Table is ceased, i.e., when the speed of service fluctuation of motor goes to zero, the effect of obtained compensated torque information table is more excellent.
Method further include: read motor position information in encoder, location information progress differential is obtained into motor speed
Degree；Velocity deviation information is determined according to the reference velocity of input and the motor speed；It is exported according to the velocity deviation information
Current-order；The first current compensation component or the second current compensation component are added in the current-order, and according to
The current-order of superposition drives the motor operating.
It should be noted that the motor torque oscillation compensation method of the present embodiment four, observation study obtains compensated torque letter
The process of breath table can carry out online, can also carry out offline.Compensated torque information can be obtained by observing study offline
Table is simultaneously stored to motor encoder, is then read compensated torque information table from encoder after motor control assembly powers on and is carried out
The online compensation of torque ripple；It can also learn to obtain compensated torque information table by live online observation, then directly carry out
The online compensation of torque ripple.
Detailed content can refer to embodiment a part, and details are not described herein again.
Embodiment five
Based on inventive concept identical with embodiment two, present embodiment discloses another motor torque oscillation compensation sides
Method, this method comprises:
Step 801: torque ripple information table is extracted from the output signal of speed regulator, the speed regulator is located at
In motor control assembly.Wherein, square fluctuation information table includes the corresponding relationship of the motor position information and torque ripple.
Step 802: the first current compensation component, first current compensation point are generated according to the torque ripple information table
Amount is for compensating into the motor control assembly in the current-order of electric current loop；
Step 803: when the speed of service fluctuation of the motor is stablized within a preset range, by the torque ripple information
Table is determined as compensated torque information table, and the compensated torque information table is stored into the storage unit of the motor.It is preferred that
, in order to meet application demand, compensated torque information table is stored into the nonvolatile memory of motor encoder, i.e. storage is single
Member is specially the nonvolatile memory of motor encoder, and motor and torque ripple offset data are thus formd an a pair
It should be related to.
Preferably, the torque ripple information table is determined as torque and is mended when the speed of service fluctuation of motor goes to zero
Information table is repaid, i.e., when the speed of service fluctuation of motor goes to zero, the effect of obtained compensated torque information table is more excellent.
Step 804: when the motor control assembly powers on, the compensated torque information is obtained from the storage unit
Table, and in the motor operation, according to compensated torque information table described in motor position information searching, to obtain corresponding
Two current compensation components；Wherein, the second current compensation component is for compensating into the motor control assembly electric current loop
In current-order.
More specifically, method further include: read motor position information in encoder, location information progress differential is obtained
To motor speed；Velocity deviation information is determined according to the reference velocity of input and the motor speed；According to the velocity deviation
Information exports current-order；The first current compensation component or the second current compensation component are added to the current-order
In, and drive the motor to operate according to the current-order of superposition.
The torque ripple compensation method of the present embodiment includes two stages, and wherein the first stage is that torque ripple is observed offline
The purpose of study stage, first stage is compensated torque information table required for obtaining second stage (online compensation stage)；Wherein
Second stage is the online compensation stage, and the compensated torque information table for being obtained according to the first stage carries out online torque ripple
Compensation.
It should be noted that the motor torque oscillation compensation method of the present embodiment five, the observation of first stage learns to obtain
The process of compensated torque information table is carried out using offline mode, it can obtains compensated torque information table by observing study offline
And it stores to motor encoder；Second stage is applied when motor control assembly powers on every time, from encoder in the present embodiment
Compensated torque information table is read, to carry out the online compensation of torque ripple.
The detail of the present embodiment can refer to embodiment two, and details are not described herein again.
Embodiment six
With reference to Fig. 9, present embodiment discloses a kind of motor torque wave motion compensators, including storage device 901 and processing
Device 902 is stored with the code for the processing unit 902 operation in the storage device 901, to execute above-described embodiment four
Or five method.
In conclusion implementing motor torque oscillation compensation method, apparatus and motor control assembly of the invention, have following
The utility model has the advantages that extracting torque ripple information table in the output signal of speed regulator of the present invention, current compensation component is converted to,
And return to its Contrary compensation in the current-order of electric current loop, it can further be substantially improved and turn when hardware optimization encounters bottleneck
Square fluctuating level, and stable speed control can be realized, while can also be in torque wave in lower speed ring gain
Engineering goods are produced the degree for assembling consistency level promotion to electronic product conformity of production level by dynamic inhibition level.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (12)
1. a kind of motor torque wave motion compensator characterized by comprising
Torque ripple data obtaining module, it is described for extracting torque ripple information table from the output signal of speed regulator
Speed regulator is located in motor control assembly；
First current compensation component generation module, for generating the first current compensation component according to the torque ripple information table,
The first current compensation component is for compensating into the motor control assembly in the current-order of electric current loop；
Compensated torque information determination module, when fluctuating stabilization within a preset range for the speed of service in the motor, by institute
It states torque ripple information table and is determined as compensated torque information table.
2. a kind of motor torque wave motion compensator characterized by comprising
Torque ripple data obtaining module, it is described for extracting torque ripple information table from the output signal of speed regulator
Speed regulator is located in motor control assembly；
First current compensation component generation module, for generating the first current compensation component according to the torque ripple information table,
The first current compensation component is for compensating into the motor control assembly in the current-order of electric current loop；
Compensated torque information determination module, for that described will turn when the speed of service of the motor is stablized within a preset range
Square fluctuation information table is determined as compensated torque information table, and the compensated torque information table is stored to the storage list of the motor
In member；
Second current compensation component generation module, for being obtained from the storage unit when the motor control assembly powers on
The compensated torque information table is taken, and in the motor operation, according to compensated torque information described in motor position information searching
Table, to obtain corresponding second current compensation component；
Wherein, the torque ripple information table includes the corresponding relationship of the motor position information and torque ripple, and described second
Current compensation component is for compensating into the motor control assembly in the current-order of electric current loop.
3. motor torque wave motion compensator according to claim 1 or 2, which is characterized in that
The torque ripple data obtaining module, for when motor is with pre-set velocity stable operation, according to predetermined period from institute
State extraction torque ripple information table in the output signal of speed regulator；
The compensated torque information determination module goes to zero for the speed of service fluctuation in the motor or stablizes default
When in range, the torque ripple information table is determined as compensated torque information table.
4. motor torque wave motion compensator according to claim 2, which is characterized in that the storage unit is encoder
In nonvolatile memory.
5. motor torque wave motion compensator according to claim 2, which is characterized in that described device further include:
Location information progress differential is obtained motor speed for reading motor position information in encoder by differentiator；
Subtracter, for determining velocity deviation information according to the motor speed of the reference velocity of input and differentiator output；
Speed regulator, for exporting current-order according to the velocity deviation information；
Adder, an input terminal are connected to the output end of the speed regulator, another input terminal is connected to described first
The output end of the output end of current compensation component generation module or the second current compensation component generation module is used for institute
It states the first current compensation component or the second current compensation component is added in the current-order of the speed regulator output；
Current controller, the current-order of the superposition for being exported according to the adder drive the motor operating.
6. a kind of motor control assembly, which is characterized in that fluctuate and mend including motor torque as described in any one in claim 1-5
Repay device.
7. a kind of motor torque oscillation compensation method characterized by comprising
Torque ripple information table is extracted from the output signal of speed regulator, the speed regulator is located at motor control assembly
In；
The first current compensation component is generated according to the torque ripple information table, the first current compensation component is for compensating extremely
In the motor control assembly in the current-order of electric current loop；
When the speed of service fluctuation of the motor is stablized within a preset range, the torque ripple information table is determined as torque
Compensated information table.
8. a kind of motor torque oscillation compensation method characterized by comprising
Torque ripple information table is extracted from the output signal of speed regulator, the speed regulator is located at motor control assembly
In；
The first current compensation component is generated according to the torque ripple information table, the first current compensation component is for compensating extremely
In the motor control assembly in the current-order of electric current loop；
When the speed of service fluctuation of the motor is stablized within a preset range, the torque ripple information table is determined as torque
Compensated information table, and the compensated torque information table is stored into the storage unit of the motor；
When the motor control assembly powers on, the compensated torque information table is obtained from the storage unit, and described
When motor operation, according to compensated torque information table described in motor position information searching, to obtain corresponding second current compensation
Component；
Wherein, the torque ripple information table includes the corresponding relationship of the motor position information and torque ripple, and described second
Current compensation component is for compensating into the motor control assembly in the current-order of electric current loop.
9. motor torque oscillation compensation method according to claim 7 or 8, which is characterized in that described from speed regulator
Output signal in extract torque ripple information table, specifically include: when motor is with pre-set velocity stable operation, according to predetermined period
Torque ripple information table is extracted from the output signal of the speed regulator；
When the speed of service in the motor fluctuates stabilization within a preset range, the torque ripple information table is determined as
Compensated torque information table, specifically includes: when the speed of service fluctuation of the motor goes to zero, by the torque ripple information table
It is determined as compensated torque information table.
10. motor torque oscillation compensation method according to claim 8, which is characterized in that the storage unit is coding
Nonvolatile memory in device.
11. motor torque oscillation compensation method according to claim 8, which is characterized in that the method also includes:
Motor position information in encoder is read, location information progress differential is obtained into motor speed；
Velocity deviation information is determined according to the reference velocity of input and the motor speed；
Current-order is exported according to the velocity deviation information；
The first current compensation component or the second current compensation component are added in the current-order, and according to superposition
Current-order drives the motor operating.
12. a kind of motor torque wave motion compensator, which is characterized in that including storage device and processing unit, the storage dress
The code for processing unit operation is stored in setting, to execute method as claimed in claim 7 or 8.
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| CN112701976A (en) * | 2020-12-28 | 2021-04-23 | 苏州伟创电气科技股份有限公司 | Motor speed loop PI control method, system, equipment and storage medium |
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| CN113162516A (en) * | 2021-04-08 | 2021-07-23 | 佛山市威灵洗涤电机制造有限公司 | Motor control method and device, motor, household appliance and readable storage medium |
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| CN117478021A (en) * | 2023-12-27 | 2024-01-30 | 深圳威洛博机器人有限公司 | Motor speed fluctuation adjusting control system during robot transmission |
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| CN117478021A (en) * | 2023-12-27 | 2024-01-30 | 深圳威洛博机器人有限公司 | Motor speed fluctuation adjusting control system during robot transmission |
| CN117478021B (en) * | 2023-12-27 | 2024-04-09 | 深圳威洛博机器人有限公司 | Motor speed fluctuation adjusting control system during robot transmission |
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