CN109474207A - A kind of control method improving multiaxial motion system synchronicity energy - Google Patents
A kind of control method improving multiaxial motion system synchronicity energy Download PDFInfo
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- CN109474207A CN109474207A CN201811401150.8A CN201811401150A CN109474207A CN 109474207 A CN109474207 A CN 109474207A CN 201811401150 A CN201811401150 A CN 201811401150A CN 109474207 A CN109474207 A CN 109474207A
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- motion system
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- multiaxial motion
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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
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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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
Abstract
The invention discloses a kind of control methods of raising multiaxial motion system synchronicity energy, comprising: regards more motors and power inverter as an entirety and models, using synchronous error and system speed the control target total as one；When each motor torque is all in controllable range, using synchronous error as the first control target, the speed of multiaxial motion system is as the second control target, with the control mode operation of deviation coupling；I.e. by multiaxial motion system compensate realize synchronism in the case where, guarantee that each motor is run with desired speed.It when certain motor torque reaches capacity, is run with the control mode of virtual line shaft, other motors guarantee that the synchronous error of multiaxial motion system under new operating condition is minimum using this motor speed as reference.Control structure of the invention is simple, and reliability is higher, and model prediction method has the characteristics that dynamic property is good, it can be achieved that multi-step prediction, this method is only needed to change software section and can be applied, without increasing hardware cost.
Description
Technical field
The present invention relates to Motor Control Field more particularly to a kind of controlling parties for improving multiaxial motion system synchronicity energy
Method.
Background technique
In the small-powers occasion such as numerically-controlled machine tool contour machining, robot, permanent magnetic synchronous motor AC servo systems are with its essence
The advantages that degree is high, response is fast is widely applied.In cutting process, the quality of net synchronization capability is directly determined between each axis
The superiority and inferiority of product is determined, therefore controlling target is to make to keep preferable net synchronization capability between multiaxial motion system.
But in the processing of practical non-rectilinear, especially at deflecting, the off sides such as wedge angle, since the movement of motor is used
Property, response problem not in time, synchronism can be made poor.With the needs of production, high performance multi-axis synchronized control strategy is studied,
With more universal realistic meaning and wide application prospect.
The quality of net synchronization capability, reflects whether multiaxial motion system each position reaches scheduled position, and reflects each
Proportion between position directly determines the quality of converted products.
Summary of the invention
The present invention provides a kind of control method of raising multiaxial motion system synchronicity energy, control structure letter of the invention
Single, reliability is higher, and model prediction method has the characteristics that dynamic property is good, it can be achieved that multi-step prediction, this method only need
Being changed to software section can apply, described below without increasing hardware cost:
A kind of control method improving multiaxial motion system synchronicity energy, which comprises
Regard more motors and power inverter as an entirety to model, using synchronous error and system speed as one
Total control target；
When each motor torque is all in controllable range, using synchronous error as the first control target, multiaxial motion system
Speed as second control target, with deviation coupling control mode operation；
It when certain motor torque reaches capacity, is run with the control mode of virtual line shaft, other motors are with this motor speed
Degree guarantees that the synchronous error of multiaxial motion system under new operating condition is minimum as reference.
It is wherein, described to regard more motors and power inverter as an entirety and model specifically:
X, y, z axis integral position-speed-predictive current control device is designed using model prediction, it is excellent by predicting, rolling
Change, feedback compensation, determine the control amount for acting on current time, forms closed network.
Further, the model prediction includes: design value function:
J1=(Y- Θ*)TLTQcL(Y-Θ*)
J2=(ω-ω*)TQa(ω-ω*)
J=λ1J1+λ2J2+Δiq TQuΔiq
J '=λ1J1+λ2J2+Δiq TQuΔiq
In formula, J1Indicate synchronous error, J2Indicate multiaxial motion system speed error, J and J ' are total cost function, Θ*
Angle given sequence is rotated for motor, Y is the practical rotation angle of motor, and L is the corresponding error coefficient of different tracks, and and Θ*
It is related, ω*For motor reference velocity, ω is motor actual speed, and Δ u is control amount, Qc、Qa、QuRespectively error, speed and
The weight coefficient of control amount, λ1、λ2The respectively weight coefficient of cost function respective items, Δ iqFor current increment, T turns for matrix
It sets.
Wherein, the prediction output of the multiaxial motion system specifically:
Wherein, A, B, C are respectively the sytem matrix, input matrix and output matrix of state equation, NcAnd NpRespectively control
Domain and prediction domain.
Wherein, the matrix expression of the prediction output specifically:
Y=Hy (k)+F1Δx(k)+G1Δu
In formula, Y=[yT(k+1)yT(k+2)…yT(k+Np)]T；H=[I2×2I2×2…I2×2]T；
The beneficial effect of the technical scheme provided by the present invention is that:
1, this method transports multiaxis on the basis of traditional single motor position, speed, three closed loop cascaded control structure of electric current
Three motors and its power inverter in dynamic system regard as it is whole carry out unified Modeling, using model prediction method design x, y,
Z-axis integral position-speed-predictive current control device；
2, the control target of this method includes synchronous error and multiaxial motion system speed, and priority, different operating conditions are arranged
Using different operating mode, more specific aim, it both ensure that synchronous error of the motor in controlled range, and in turn ensured certain motor
Synchronous error when torque reaches capacity makes overall error reach minimum.
Detailed description of the invention
Fig. 1 (a) is space line profile diagram；
Fig. 1 (b) is space arbitrary curve profile diagram；
Fig. 2 is to improve multiaxial motion system synchronicity to can control the complete schematic of method.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
Ground detailed description.
Embodiment 1
A kind of control method improving multiaxial motion system synchronicity energy, is related to motor, power inverter, controller and electricity
Source etc., this method preferentially guarantee synchronism using the speed of synchronous error and multiaxial motion system as control target, secondly guarantee
Multiaxial motion system is run with desired speed, is realized coordinating other motors and is synchronized by determining whether certain motor reaches capacity
Control, comprising the following steps:
101: using the speed of the synchronous error and multiaxial motion system control target total as one；
102: each motor torque being determined, when each motor is all in controllable range, using synchronous error as first
Target is controlled, system speed is as the second control target, with the control mode operation of deviation coupling；
I.e. by multiaxial motion system compensate realize synchronism in the case where, guarantee that each motor is transported with desired speed
Row.
103: when certain motor torque reaches capacity, run with the control method of virtual line shaft, at this time other motors with
This motor speed guarantees that the synchronous error of multiaxial motion system under new operating condition is minimum as reference.
One entirety is regarded as to each motor and power inverter and carries out unified Modeling, is set using the control method of model prediction
X, y, z axis integral position-speed-predictive current control device is counted, by processes such as prediction, rolling optimization, feedback compensations, determines and makees
For the control amount at current time, closed network is formed.
Cost function involved in model prediction is separately designed, segmentation switching, to realize different control targets.
Cost function design are as follows:
J1=(Y- Θ*)TLTQcL(Y-Θ*) (1)
J2=(ω-ω*)TQa(ω-ω*) (2)
J=λ1J1+λ2J2+Δiq TQuΔiq (3)
J '=λ1J1+λ2J2+Δiq TQuΔiq (4)
In formula, J1Indicate synchronous error, J2Indicate multiaxial motion system speed error, J and J ' are total cost function, Θ*
Angle given sequence is rotated for motor, Y is the practical rotation angle of motor, and L is the corresponding error coefficient of different tracks, and and Θ*
It is related, ω*For motor reference velocity, ω is motor actual speed, and Δ u is control amount, Qc、Qa、QuRespectively error, speed and
The weight coefficient of control amount, λ1、λ2The respectively weight coefficient of cost function respective items.
Wherein, above-mentioned designed cost function is obtained according to model prediction, and process is as follows:
If control domain and prediction domain are respectively NcAnd Np, kTsThe state variable at moment and control variable be be not Δ x (k) and
Δ u (k), (k+1) Ts~(k+Nc-1)TsThe control variable of period is Δ u (k+1) ..., Δ u (k+Nc, and Δ u (k+n) -1)
=0, n=Nc..., Np-1。kTs(k+1) T of moment predictions~(k+Nc-1)TsThe state variable of period Δ x (k+1), Δ x
(k+2) ..., Δ x (k+Np) indicate, output variable distinguishes Δ y (k+1), Δ y (k+2) ..., Δ y (k+Np) indicate.
By the state space equation of multiaxial motion system:
In formula, A, B, C are respectively state equation sytem matrix, input matrix and output matrix.To formula (5) state space
Model equation is iterated, and can be obtained:
The expression formula of multiaxial motion system prediction output are as follows:
Above formula is written as to the form of matrix:
Y=Hy (k)+F1Δx(k)+G1Δu (9)
In formula, Y=[yT(k+1) yT(k+2)…yT(k+Np)]T；H=[I2×2 I2×2…I2×2]T；
In conclusion the control structure of design of the embodiment of the present invention is simple, reliability is higher, and model prediction method has
Have the characteristics that dynamic property is good, it can be achieved that multi-step prediction.
Embodiment 2
Below with reference to Fig. 2, calculation formula, example and table 1 further introduce the scheme in embodiment 1, in detail
See below description:
The control principle drawing of entire multiaxial motion system in the embodiment of the present invention is as shown in Figure 2.It, should for the ease of analysis
Multiaxial motion system is introduced with permanent magnet synchronous motor (PMSM) for object.In addition, entire multiple axes system further include: inversion
Device, controller and DC power supply.
Wherein, the modules such as DC power supply and inverter are identical as the drive module of common permanent magnet synchronous motor.Controller
It include: deviation coupling two control strategies of control mode and Virtual-shaft control mode.
The three driving motor equations of motion in multiaxial motion system are modeled, expression formula is as follows:
In formula, GiFor motor rotary inertia, BiFor motor viscosity friction coefficient, θiFor the rotation angle of motor, τiFor driving
Torque required for slide block movement, iqiFor motor q shaft current, KtFor motor torque coefficient, subscript i=x, y, z, corresponding x, y, z
The motor of axis, subscript " " represent the first derivative of corresponding amount, and " .. " represents second dervative.
Movement mechanism in multiaxial motion system is modeled, expression formula is as follows:
In formula, fiFor driving force needed for slide block movement, piFor slider displacement, CiFor viscosity friction coefficient, MiFor fitness machine
The quality of structure.
In addition, it is contemplated that the relationship between movement mechanism and three driving motors, constructs following relational expression:
In formula, riFor movement mechanism synchronizing wheel radius, niThe motion bit of corresponding sliding block is enclosed for three driving motors rotation one
It moves.
By formula (10) to formula (12), available one equivalent multiaxial motion system dynamic model, expression formula is as follows:
In formula, G is definedeqi=Gi+Miniri/ 2 π, Beqi=Bi+Ciniri/2π。
By taking x-axis as an example, single motor position-electric current transmission function can be indicated are as follows:
Wherein, s is complex frequency.
To above formula, add zero-order holder, and carry out z-transform, obtains the domain z transmission function are as follows:
(1+ax1z-1+ax2z-2)θx(k+1)=(bx0+bx1z-1)·iqx(k) (15)
In formula,
TsFor the sampling period.
The form that above formula is write as to state equation, obtains:
In formula,
Further write as the form of increment, available:
Wherein, Δ=1-z-1, indicate the difference at current time and previous moment, z-1Indicate backward shift operator.
Similarly, also available y, z-axis state equation.Therefore, the position of multiaxial motion system can be with unified Modeling table
It is shown as:
In formula,
Formula (10) can be written as:
Wherein, ω indicates speed, i.e. derivative of the θ to the time.
It is converted by Laplace, by taking y-axis as an example, single motor speed-electric current transmission function can be indicated are as follows:
In formula, iqyIt (s) is complex domain electric current, τyIt (s) is complex domain torque, ωyIt (s) is complex domain revolving speed.
Enable τy(s)=0 open-loop transfer function, is obtained by formula (20) are as follows:
For above formula, zero-order holder is added, carries out z-transform, obtains the domain z transmission function are as follows:
In formula,z-1For backward shift operator.
By τy(s) it is added in formula (22), obtains speed difference equation:
ωy(k+1)=- β ωy(k)+αiqy(k)+τy(k) (23)
In formula, ωyIt (k+1) is prediction output, τyIt (k) is kT after discretizationsMoment torque, with τy(s) corresponding.
The form that above formula is write as to state equation, obtains:
In formula, ay=-β, by=α, cy=1.
Further write as the form of increment, available:
Similarly, also available x, z-axis state equation.Therefore, the speed of multiaxial motion system can be with unified Modeling table
It is shown as:
In formula,
In conclusion formula (10) to (18) is the derivation process of multiaxial motion system position prediction, formula (18) is to derive knot
Fruit；Formula (19) to (26) is the derivation process of multiaxial motion system speed prediction, and formula (26) is derivation result.Formula (18) and (26)
Being updated to formula (5) to (9) formula is to realize the process of multi-step prediction.Using synchronous error and multiaxial motion system speed as control mesh
Mark, using electric current as control amount, by the selection to the cost function in formula (3) and (4), is controlled.The side proposed
Method control strategy is as shown in table 1.
Table 1
Specific control mode is as follows: traditional control system is frequently with position, speed, current closed-loop cascade structure, in this base
On plinth, replace speed ring with MPC (Model Predictive Control) method, three motors and power inverter are regarded as whole carry out uniformly
Modeling.The input of MPC is reference position θ*(k) (such as Fig. 1 (a), (b) form), reference velocity ω*(k) and the reality at k moment
Position θ (k) and actual speed ω (k), wherein ω (k)=[ωx(k)ωy(k)ωz(k)]T。
Torque is determined, when motor is in controlled range, needs each motor to match with desired speed and runs, i.e.,
Optional Value function J (λ1Take 1, λ2It takes 0), by control variable Δ iqDerivation is carried out, optimum control amount Δ i at this time is obtainedq
(k)=[Δ iqx(k)Δiqy(k)Δiqz(k)]T, Δ iq(k) residual quantity needed for i.e. each motor is augmented, this couples work for deviation
Make mode.
If detecting, certain motor torque reaches capacity, using the revolving speed of this motor as the reference of last moment, at this time
Always reference velocity isOptional Value function J ' (λ1Take 0, λ2It takes 1), by control variable Δ iqDerivation obtains at this time
Optimum control amount, this stage are virtual line shaft working method.
In conclusion the control structure of design of the embodiment of the present invention is simple, reliability is higher, and model prediction method has
Have the characteristics that dynamic property is good, it can be achieved that multi-step prediction.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of control method for improving multiaxial motion system synchronicity energy, which is characterized in that the described method includes:
Regard more motors and power inverter as an entirety to model, it is total using synchronous error and system speed as one
Control target；
When each motor torque is all in controllable range, using synchronous error as the first control target, the speed of multiaxial motion system
Degree is as the second control target, with the control mode operation of deviation coupling；
It when certain motor torque reaches capacity, is run with the control mode of virtual line shaft, other motors are with this motor speed work
For reference, guarantee that the synchronous error of multiaxial motion system under new operating condition is minimum.
2. a kind of control method for improving multiaxial motion system synchronicity energy according to claim 1, which is characterized in that institute
It states and regards more motors and power inverter as an entirety and model specifically:
X, y, z axis integral position-speed-predictive current control device is designed using model prediction, by prediction, rolling optimization, anti-
Feedback correction, determines the control amount for acting on current time, forms closed network.
3. a kind of control method for improving multiaxial motion system synchronicity energy according to claim 2, which is characterized in that institute
Stating model prediction includes: design value function:
J1=(Y- Θ*)TLTQcL(Y-Θ*)
J2=(ω-ω*)TQa(ω-ω*)
J=λ1J1+λ2J2+Δiq TQuΔiq
J '=λ1J1+λ2J2+Δiq TQuΔiq
In formula, J1Indicate synchronous error, J2Indicate multiaxial motion system speed error, J and J ' are total cost function, Θ*For electricity
Machine rotates angle given sequence, and Y is the practical rotation angle of motor, and L is the corresponding error coefficient of different tracks, and and Θ*It is related,
ω*For motor reference velocity, ω is motor actual speed, and Δ u is control amount, Qc、Qa、QuRespectively error, speed and control
The weight coefficient of amount, λ1、λ2The respectively weight coefficient of cost function respective items, Δ iqFor current increment, T is matrix transposition.
4. a kind of control method for improving multiaxial motion system synchronicity energy according to claim 3, which is characterized in that institute
State the prediction output of multiaxial motion system specifically:
Wherein, A, B, C are respectively the sytem matrix, input matrix and output matrix of state equation, NcAnd NpRespectively control domain and
Predict domain.
5. a kind of control method for improving multiaxial motion system synchronicity energy according to claim 4, which is characterized in that institute
State the matrix expression of prediction output specifically:
Y=Hy (k)+F1Δx(k)+G1Δu
In formula, Y=[yT(k+1) yT(k+2)…yT(k+Np)]T；H=[I2×2 I2×2…I2×2]T；
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| CN113031527A (en) * | 2019-12-25 | 2021-06-25 | 新疆金风科技股份有限公司 | Multi-axis synchronous variable pitch control method, device and system |
| CN113541546A (en) * | 2021-06-16 | 2021-10-22 | 西安交通大学 | Direct prediction torque control method and system for permanent magnet synchronous motor |
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| CN112787551A (en) * | 2019-11-02 | 2021-05-11 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Method for improving robustness and contour performance of double-shaft or three-shaft feed driving system |
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