CN109067273A - The AC servo driver of DTC-SVPWM for industrial six-joint robot regulates and controls method - Google Patents
The AC servo driver of DTC-SVPWM for industrial six-joint robot regulates and controls method Download PDFInfo
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- CN109067273A CN109067273A CN201810737575.XA CN201810737575A CN109067273A CN 109067273 A CN109067273 A CN 109067273A CN 201810737575 A CN201810737575 A CN 201810737575A CN 109067273 A CN109067273 A CN 109067273A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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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Abstract
A kind of AC servo driver regulation method of the DTC-SVPWM for industrial six-joint robot, is related to industrial automation and field in intelligent robotics.Pass through Three-loop control algorithm, electric current and phase voltage signal that system feedback is returned are converted into the signals such as the magnetic linkage of system, after conversion, generate the phase voltage in the rest frame that SVPWM control needs, sector is distributed according still further to the mode of space voltage vector, completes the generation of pwm signal, this method, which not only reduces, directlys adopt feedback torque generation switching tube on-off signal bring torque ripple situation, the utilization rate that power supply can also be improved improves the stability and robustness of inner loop control.Applied to industrial six-joint robot industry, the occurrence of end is buffeted is reduced, the repetitive positioning accuracy and rapidity of machine system are improved, the data interaction communication between upper and lower computer is realized in such a way that ethercat is communicated, improves transmission speed.The control mode can also improve power utilization rate, compared with traditional SPWM, improve 15% or so.
Description
Technical field
It is the present invention relates to industrial automation and field in intelligent robotics, in particular to a kind of for industrial six-joint robot
The AC servo driver of DTC-SVPWM regulates and controls method.
Background technique
With economic development and improvement of living standards, in order to meet the production of factory automation, industrial robot generation
The work of adverse circumstances operating condition and repeated operating condition is carried out for the mankind.Wherein guarantee that robot can be transported according to the track of planning
Capable executing agency is AC servo motor (AC servo driver+servo motor), and then completes upper master controller planning
Track operation, have extensive and universal application.
Intelligent robot can replace the mankind to work, and in robot automation's system, robot is only
A part in system, this system generally includes PLC system, (controller part, realization including ontology are more for robot complete machine
Actuator, that is, the AC servo driver and AC servo motor and precision speed reduction device of axis synchronous operation) and peripheral sensor
Deng.
The AC servo being made of AC servo driver and AC servo motor, because power with higher is close
Degree, the advantages that fast response time and overload capacity are strong, are used in intelligent industrial robot field, AC servo driver and watch
Motor is taken for being a kind of a kind of universal application state in robot system.But in actual application process, with
For industrial six-joint robot, the case where there are torque pulsations during Direct Torque Control, i.e. end, are buffeted, this will be tight
Ghost image rings positioning accuracy.
Summary of the invention
In view of the deficienciess of the prior art, the object of the present invention is to provide a kind of exchanges for industrial six-joint robot
Servo-driver is combined with space voltage vector control by Direct Torque Control, is reduced existing for Direct Torque Control
Torque pulsation situation improves the overall performance of AC servo control system.
The technical scheme adopted by the invention is that: a kind of AC servo of the DTC-SVPWM for industrial six-joint robot
Driver regulates and controls method, is characterized in that, includes the following steps:
Instruction step is sent, is sent position set point command in servo-driver by Ethercat；
Acquisition step, the phase current and phase voltage value of acquisition permanent magnet synchronous motor output；
Speed preset step, position given value and collected encoder position value of feedback carry out difference comparsion, through PI tune
After section, output speed signal feeding value；
Torque reference step, the speed preset signal value of output and the speed signal of encoder feedback do difference, through PI tune
After section, output torque signal feeding value；
DTC-SVPWM regulating step, dtc signal given value are compared with through the calculated actual torque value of DTC method
Compared with generation SVPWM modulating wave drives servo motor.
In above scheme, DTC-SVPWM method the following steps are included:
Firstly, phase current and phase voltage carry out CLARK and PARK and PARK-1After transformation, the electricity of rest frame is obtained
Stream and voltage；
Secondly, using coordinate transform as a result, calculating the magnetic linkage component under rest frameWith electromagnetic torque Te；
Finally, according to the relationship between the flux linkage vector and voltage vector of servo motor, phase needed for obtaining SVPWM control
Voltage, formula are as follows:
dφα=φref cos(θ+dδ)-|φ|cosθ
dφβ=φref sin(θ+dδ)-|φ|sinθ
uα=d φα/TS+RSiα
uβ=d φβ/TS+RSiβ
In formula, d φα, d φβFor the magnetic linkage changing value of each PWM cycle；φrefFor flux linkage set value；RSFor fixed value resistance；
TSThe period is controlled for PWM；uα, uβFor due to the component of voltage α axis and β axis；iα, iβDue to the component of electric current α axis and β axis；D δ is
The changing value of angle of torsion gives torque Tref- T closed loop carries out PI and controls the output obtained, wherein TrefFor torque reference value, T
For torque feedback value；θ isAxis and the calculated angle of torsion of β component.
In above scheme, sector is distributed in the way of space voltage vector and generates SVPWM modulating wave, i.e., is distributed sector
As a result corresponding with the on off operating mode of inverter switching device pipe, it calculates and needs each switching tube on-off each PWM interrupt cycle
Time, and then the voltage value that output motor rotation is desired.
The beneficial effects of the present invention are: the AC servo driver tune of the DTC-SVPWM for being used for industrial six-joint robot
Electric current and phase voltage signal that system feedback is returned are converted to the magnetic linkage etc. of system by Three-loop control algorithm by prosecutor method
Signal so can generate the phase voltage in the rest frame that SVPWM control needs, finally according to space by converting accordingly
The mode of voltage vector distributes sector, completes the generation of pwm signal, and this method, which not only reduces, directlys adopt feedback torque life
At switching tube on-off signal bring torque ripple situation, additionally it is possible to which the utilization rate for improving power supply improves the steady of inner loop control
Qualitative and robustness.Applied to industrial six-joint robot industry, the occurrence of end is buffeted is reduced, complete machine system is improved
The repetitive positioning accuracy and rapidity of system realize that the data interaction between upper and lower computer is logical in such a way that ethercat is communicated
Letter, improves transmission speed.The control mode can also improve power utilization rate, and compared with traditional SPWM, it is left to improve 15%
It is right.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the position sensorless AC synchronous sampling method control combined in the embodiment of the present invention based on DTV-SVPWM
Schematic diagram processed；
Fig. 2 is AC servo driver hardware platform structural schematic diagram in the embodiment of the present invention；
Fig. 3 is the position sensorless AC synchronous sampling method flow that the embodiment of the present invention is combined based on DTV-SVPWM
Figure；
Fig. 4 is voltage vector of the embodiment of the present invention and make-and-break time relation schematic diagram.
Specific embodiment
Keep the above objects, features and advantages of the present invention more obvious and easy to understand, with reference to the accompanying drawing 1~Fig. 3 and tool
The present invention is described in further detail for body embodiment.
Servo-driver in the present embodiment includes regulator rectifier circuit, IPM inverter circuit, logic gates FPGA, number
Word signal processor DSP (model TMS320F28335), current sensor, optical coupling isolation circuit, Drive Protecting Circuit and
Fault detection and protection circuit, wherein DSP include ADC module, PWM generator, flash storage unit (not shown),
Extend out FRAM and ram cell (not shown).DSP with two class MCU chip of FPGA is connected by way of parallel bus,
Wherein regulator rectifier circuit is that external power supply power supply is converted to DC power supply, provides busbar voltage, DSP to IPM inverter circuit
A/D module handle some analog input signals, such as: the detected value of busbar voltage, PWM for providing PWM pulse width signal,
Input of the output of the part as PWM generator, ultimately produces pulse width signal for motor control, FPGA makees current of electric letter
Number detection and processing and the processing of some fault messages.
The AC servo driver for the DTC-SVPWM for industrial six-joint robot that the present embodiment uses regulates and controls method,
By the software realization being arranged in DSP, the AC servo driver used can realize three closed-loop controls, control model
It can choose as position, speed and torque mode, the relationship between three closed loops is as shown in Figure 1, only with position in the present embodiment
It sets and is illustrated for control model, process is as shown in figure 3, include the following steps:
Instruction step is sent, servo-driver is sent by host computer for position set point command by Ethercat
In, and be filtered and smoothing processing.
Acquisition step utilizes the phase current and phase voltage value of photoelectric encoder acquisition permanent magnet synchronous motor output.
Speed preset step, position given value and collected encoder position value of feedback carry out difference comparsion, through PI tune
After section, output speed signal feeding value.
Torque reference step, the speed preset signal value of output and the speed signal of encoder feedback do difference, through PI tune
After section, output torque signal feeding value.
DTC-SVPWM regulating step, through electric current loop output dtc signal given value with through the calculated reality of DTC method
Torque value is compared, and is done and is generated SVPWM modulating wave after closed-loop process, and servo motor is driven, wherein DTC-SVPWM include with
Lower two steps:
(1) DTC-SVPWM method the following steps are included:
Firstly, phase current and phase voltage carry out CLARK and PARK and PARK-1After transformation, the electricity of rest frame is obtained
Stream and voltage；
Secondly, using coordinate transform as a result, calculating the magnetic linkage component and electromagnetic torque under rest frame, specific formula
As follows: magnetic linkage component formula is as follows:
φβ=∫ (uβ-Rsiβ)dt
In formula, φαFor the α axis component of stator magnetic linkage；φαFor the α axis component of stator magnetic linkage；φβFor the α axis of stator magnetic linkage
Component beta -axis component；For due to voltageThe component of axis；For due to electric currentThe component of axis；
Magnetic linkage formula is as follows:
In formula, φ is stator magnetic linkage；
Formula of Electromagnetic is as follows:
In formula, TeFor electromagnetic torque；P is number of pole-pairs；
Finally, according to the relationship between the flux linkage vector and voltage vector of servo motor, phase needed for obtaining SVPWM control
Voltage, formula are as follows:
dφα=φrefcos(θ+dδ)-|φ|cosθ
dφβ=φrefsin(θ+dδ)-|φ|sinθ
uα=d φα/TS+RSiα
uβ=d φβ/TS+RSiβ
In formula, d φα, d φβFor the magnetic linkage changing value of each PWM cycle；φrefFor flux linkage set value；RSFor fixed value resistance；
TSThe period is controlled for PWM；uα, uβFor due to the component of voltage α axis and β axis；iα, iβDue to the component of electric current α axis and β axis；D δ is
The changing value of angle of torsion gives torque Tref- T closed loop carries out PI and controls the output obtained, wherein TrefFor torque reference value, T
For torque feedback value；θ isAxis and the calculated angle of torsion of β component.
(2) sector is distributed in the way of space voltage vector generates SVPWM modulating wave.
The present embodiment is as shown in figure 4, corresponding three switches of the upper bridge arm of switching tube are respectively S1, S3, S5, S1, S3, S5
On-off indicate that then three switch obtained combination and have state in 8 with 1/0, be respectively as follows:
Vector state 1:000；
Vector state 2:001；
Vector state 3:010；
Vector state 4:011；
Vector state 5:100；
Vector state 6:100；
Vector state 7:101；
Vector state 8:111；
Wherein, 000 and 111 be zero vector
The present embodiment 8 vector states of setting are corresponding with the on off operating mode of inverter switching device pipe respectively, utilize above-mentioned pass
System can calculate the time for needing each switching tube on-off each PWM interrupt cycle, and then the voltage that output motor rotation is desired
Value.It is specific as follows: to utilize the rest frame voltage value u generatedαAnd uβ, so that it may according to obtain the period where sector,
For example, being illustrated by taking sector 1 as an example:
The voltage u of rest frame is obtainedαAnd uβ, so that it may determine the resultant vector u of the voltage vectorref, from Fig. 4 just
It is known that time T1 and T2 of the voltage vector under two neighbouring vectors effects of U4 and U6.So correspond to hardware circuit
In it is known that in a cycle switch S1 S3 S5 make-and-break time, then export corresponding chopping voltage control servo electricity
Machine operation.
It after generating SVPWM waveform, is sent in IPM inversion unit, such as the Converting Unit in Fig. 2, passes through the logical of switching tube
Medium well is provided at chopping voltage needed for controlled device, the busbar voltage of switching tube by rectifying part, and the input of rectifying part is just
It is external given urban network electricity source.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be with the scope of protection of the claims
It is quasi-.
Claims (3)
1. the AC servo driver of DTC-SVPWM for industrial six-joint robot a kind of regulates and controls method, which is characterized in that packet
Include following steps:
Instruction step is sent, is sent position set point command in servo-driver by Ethercat；
Acquisition step, the phase current and phase voltage value of acquisition permanent magnet synchronous motor output；
Speed preset step, position given value and collected encoder position value of feedback carry out difference comparsion, after PI is adjusted,
Output speed signal feeding value；
Torque reference step, the speed preset signal value of output and the speed signal of encoder feedback do difference, after PI is adjusted,
Output torque signal feeding value；
DTC-SVPWM regulating step, dtc signal given value are compared with through the calculated actual torque value of DTC method, raw
At SVPWM modulating wave, servo motor is driven.
2. the AC servo driver of the DTC-SVPWM as described in claim 1 for industrial six-joint robot regulates and controls method,
It is characterized in that, DTC-SVPWM method the following steps are included:
Firstly, phase current and phase voltage carry out CLARK and PARK and PARK-1After transformation, obtain rest frame electric current and
Voltage；
Secondly, using coordinate transform as a result, calculating the magnetic linkage component under rest frameWith electromagnetic torque Te；
Finally, according to the relationship between the flux linkage vector and voltage vector of servo motor, phase electricity needed for obtaining SVPWM control
Pressure, formula are as follows:
dφα=φref cos(θ+dδ)-|φ|cosθ
dφβ=φref sin(θ+dδ)-|φ|sinθ
uα=d φα/TS+RSiα
uβ=d φβ/TS+RSiβ
In formula, d φα, d φβFor the magnetic linkage changing value of each PWM cycle；φrefFor flux linkage set value；RSFor fixed value resistance；TSFor
PWM controls the period；uα, uβFor due to the component of voltage α axis and β axis；iα, iβDue to the component of electric current α axis and β axis；D δ is torque
The changing value at angle gives torque Tref- T closed loop carries out PI and controls the output obtained, wherein TrefFor torque reference value, T is torque
Value of feedback；θ isAxis and the calculated angle of torsion of β component.
3. the AC servo driver regulation side of the DTC-SVPWM as claimed in claim 1 or 2 for industrial six-joint robot
Method, which is characterized in that distribute sector in the way of space voltage vector and generate SVPWM modulating wave, i.e., by sector allocation result
It is corresponding with the on off operating mode of inverter switching device pipe, the time for needing each switching tube on-off each PWM interrupt cycle is calculated,
And then the voltage value that output motor rotation is desired.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110635723A (en) * | 2019-10-11 | 2019-12-31 | 北京航天飞腾装备技术有限责任公司 | Permanent magnet synchronous motor servo system based on magnetic encoder |
| CN110752793A (en) * | 2019-10-14 | 2020-02-04 | 湖南强军科技有限公司 | ZYNQ-based multi-motor direct torque control system and control method thereof |
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| CN105048918A (en) * | 2015-07-08 | 2015-11-11 | 河南科技大学 | Brushless DC motor adaptive fuzzy control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110635723A (en) * | 2019-10-11 | 2019-12-31 | 北京航天飞腾装备技术有限责任公司 | Permanent magnet synchronous motor servo system based on magnetic encoder |
| CN110752793A (en) * | 2019-10-14 | 2020-02-04 | 湖南强军科技有限公司 | ZYNQ-based multi-motor direct torque control system and control method thereof |
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