CN109617497A - Duplex path feedback disturbs estimation compensation driver - Google Patents
Duplex path feedback disturbs estimation compensation driver Download PDFInfo
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- CN109617497A CN109617497A CN201811399490.1A CN201811399490A CN109617497A CN 109617497 A CN109617497 A CN 109617497A CN 201811399490 A CN201811399490 A CN 201811399490A CN 109617497 A CN109617497 A CN 109617497A
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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Abstract
The invention discloses a kind of duplex path feedbacks to disturb estimation compensation driver, comprising: Disturbance Detection module, for obtaining the motion feedback information of workbench and the disturbing signal of workbench；Main control module obtains the motion planning information of workbench, then obtains the control amount of workbench according to the motion planning information and motion feedback information for carrying out motion planning to workbench；The control amount is filtered and is compensated, estimates that the disturbance of workbench is poor later, the estimated value of disturbance difference is compensated into control amount, obtains final control amount for controlling the drive module of servo motor；When another channel does not input, and is substituted with motion planning order, which is also able to achieve single-lens reflex camera feedback driving estimation compensation function.The present invention interferes small, bandwidth height from driver bottom layer realization, and by increasing by the second motion feedback module, single driver can realize that movement warp measures, improve the performance of control system.
Description
Technical field
The invention belongs to technical field of automatic control, and in particular to a kind of duplex path feedback disturbance estimation compensation driving
Device.
Background technique
Current servo control system occupies important in industries such as high-end numerical control machine, precise electronic sealed in unit and robots
Status.As high speed and precision manufacturing industry continues to develop, huge development is provided for high-speed precision servo control system industry
Prospect and development space.
Servo-control system control mode is broadly divided into full closed loop control and non-full closed loop control.Relative to non-closed-loop control
System, the control precision of full closed loop control are higher.But traditional closed-loop control system is only by comparison aim parameter and actual amount two
Relationship between person carries out closed-loop control, such as target carries out full closed loop control by position ring.Main control chip exports mesh
Cursor position drives platform movement, then the physical location of detection platform, passes through the position between comparison target position and physical location
Error is set, then is fed back to main control chip and readjusts control.Wherein, mode there are two types of the detections of position of platform, one is
The photoelectric encoder installed by servo motor itself due to being the position of feedback operation object in an indirect way, then passes through
Closed-loop control achievees the purpose that position control.Another way is that directly position sensing component is mounted on platform, such as grating
Ruler, laser position detection meter etc., the position of direct feedback operation object, then reach by closed-loop control the mesh of position control
's.But inventors discovered through research that the control method of this kind of servo-control system is there are clearly disadvantageous, especially in high speed
In the case where precise flange, the shortcoming of control method is more prominent.Such as in linear servo-actuator drive system
In, traditional position-force control has ignored frictional force and platform flexible deformation causes to disturb to control system, causes reality
Moving target cannot steadily reach rapidly stable state in control process.Obviously, traditional servo-system is in compensation scheme and control
Method processed is difficult to meet the requirement of growing high speed and precision motion control.
Summary of the invention
Invention proposes a kind of duplex path feedback disturbance estimation compensation driver, and Active Disturbance Rejection Control is added in the drive and calculates
Method, Active Disturbance Rejection Control can be accounted for using model error and external disturbance as unified disturbance factor, be realized to all dry
Disturb the inhibition of information, error caused by compensating disturbance.
In order to realize above-mentioned task, the invention adopts the following technical scheme:
A kind of duplex path feedback disturbance estimation compensation driver, comprising:
Disturbance Detection module, including the first motion feedback module and the second motion feedback module, wherein the first motion feedback
Module is used to obtain the motion feedback information of workbench, and the second motion feedback module is used to obtain the disturbance letter of workbench
Number；
Main control module obtains the motion planning information of workbench, then root for carrying out motion planning to workbench
The control amount of workbench is obtained according to the motion planning information and motion feedback information；The control amount is filtered
And compensation, estimate that the disturbance of workbench is poor later, the estimated value of disturbance difference is compensated into control amount, final control is obtained
Amount is controlled for the drive module to servo motor；
The motion feedback information of the workbench includes the displacement of workbench, speed；The workbench
Disturbing signal is poor including the first displacement difference, First Speed；
Described obtains the control amount of workbench according to the motion planning information and motion feedback information, comprising:
The motion planning information includes the displacement of workbench, velocity and acceleration；By the displacement of workbench, speed
Degree, displacement, speed with planning make the difference respectively, and obtained displacement difference, speed difference are denoted as that second displacement is poor, second speed is poor；Root
, second speed difference poor according to second displacement obtains the control amount of workbench；
The control amount is filtered and is compensated, estimates that the disturbance of workbench is poor later, comprising:
By first displacement difference, First Speed difference not multiplied by the rigidity of flexible hinge, damping, the result that will be obtained
It is added, obtains flexible hinge and measure perturbed force, the control amount of the workbench is filtered, then the measurement is disturbed
Power and the acceleration compensation of planning are into control amount；Compensated control amount, second displacement difference are input to expansion state
In observer, the estimated value of workbench disturbance difference is obtained.
Further, first displacement difference, the calculation method of First Speed difference are as follows:
Second motion feedback module obtain frame displacement and speed, by the displacement of frame, speed respectively with workbench
Displacement, speed make the difference, it is poor that obtained result is denoted as the first displacement difference, First Speed.
Further, first displacement difference, the calculation method of First Speed difference are as follows:
Displacement difference, speed difference between second motion feedback module gage frame, workbench, be denoted as the first displacement difference,
First Speed is poor.
Further, the workbench is Coupled Rigid-flexible platform, including the frame that is mounted on mechanical guide and
It is connected to the workbench on the frame by the flexible hinge, workbench is driven by the servo motor.
Further, poor according to second displacement, second speed difference obtains the control amount of workbench, comprising:
Proportional gain amplification is carried out to second displacement difference, then is increased to after second displacement difference progress differential calculation multiplied by ratio
Benefit obtains the control amount of workbench；
Or proportional gain amplification is carried out to second speed difference, obtain the control amount of platform.
Further, described to be filtered into software filtering, filtering algorithm is provided in the main control module.
It is further, described to be filtered into hardware filtering, the driver further include:
Notch filter module, for carrying out notch filter to control amount；
Signal synthesizing module, for the estimated value of control amount and disturbance difference after notch filter to be synthesized final control
Amount.
Further, the driver further include:
Power module is connect with pressure stabilizing rectification module, and wherein for providing power supply, pressure stabilizing rectification module is used for power module
Stable voltage and current is provided for servo motor；
Feedback module, including D/A converter module, coder module, current feedback acquiring unit, Voltage Feedback obtain list
Member and motor position feedback acquiring unit, in which:
Motor position feedback obtains the position that module is used to obtain servo motor, and location information is then passed to encoder
Location information is fed back to main control module by module, coder module；The D/A converter module is obtained with current feedback respectively
Module, Voltage Feedback obtain module electrical connection, and current feedback obtains module, Voltage Feedback obtains module and is respectively used to sampling servo
The analog quantity of the electric current of motor, voltage, and analog quantity is transferred to D/A converter module, D/A converter module converts analog quantity
Main control module is fed back to for digital quantity.
Further, the design of the extended state observer are as follows:
In above formula,M is the inertia of workbench, eyIt is poor for second displacement,For the estimated value of displacement difference,For
The estimated value of second speed difference,For the estimated value of workbench disturbance difference, u is control amount, β1=3 ω, β2=3 ω2, β3=
ω3, ω is the parameter for needing to adjust.
The present invention has following technical characterstic compared with prior art:
Active Disturbance Rejection Control is processing disturbance very good control algorithm, however, common practice is the control from upper layer now
Algorithm is developed on device and realizes that servo bandwidth is low, and control signal interference is big, and needs to connect motor interface and be just able to achieve double feedback controls
System.For the present invention from driver bottom layer realization, interference is small, and bandwidth is high, and by increasing by the second motion feedback module, single driver is just
Movement warp measurement may be implemented, carry out disturbance estimation and compensation using embedded Active Disturbance Rejection Control algorithm, improve control system
Performance.
Detailed description of the invention
Fig. 1 is the structural block diagram (software filtering mode) that duplex path feedback of the invention disturbs estimation compensation driver；
Fig. 2 is the structural block diagram (hardware filtering mode) that duplex path feedback of the invention disturbs estimation compensation driver；
Fig. 3 is the control flow chart (software filtering mode) that duplex path feedback of the invention disturbs estimation compensation driver；
Fig. 4 is the control flow chart (hardware filtering mode) that duplex path feedback of the invention disturbs estimation compensation driver.
Specific embodiment
The invention reside in the external disturbance compensation problems based on Active Disturbance Rejection Control algorithm solved under ultraprecise movement needs.
For friction free desired stiffness platform, it is only necessary to which PID control just can reach ideal control effect.But in fact, disturbing
Moving the ubiquitous and moment affects control system, and the interference suppressioning effect of Active Disturbance Rejection Control algorithm is dependent in feedback element
Sensor information, then main control chip is fed back to by extension observer, driver is controlled.Therefore in order to solve disturbed belt
The control error come, driver of the present invention are used to examine on the basis of traditional closed-loop control system plus the second motion feedback module
The inside and outside disturbance of control system is surveyed, duplex path feedback structure is constituted, result is then will test and feeds back to control algolithm and compensate,
To reach elimination disturbance, the purpose of high control precision is proposed, the unification of implementation model error and external disturbance greatlys improve height
It is not comprehensive not high with control precision to solve existing linear servo-actuator drive system feedback information for fast precise flange precision
The problem of.
The invention discloses a kind of duplex path feedbacks to disturb estimation compensation driver, comprising:
Disturbance Detection module, for obtaining the motion feedback information of workbench and the disturbance information of motion platform；We
The driver of case is using the displacement of planning and speed as reference input, using the displacement of workbench and speed as feedback, shape
At closed-loop control system.
Specifically, in the present embodiment, Disturbance Detection module include the first motion feedback module, the second motion feedback module and
The data conversion module being connected in the second motion feedback module, the first motion feedback module, the second motion feedback module difference
For detecting the motion feedback of different types, to realize duplex path feedback.
Wherein, the first motion feedback module is used to obtain the motion feedback information of workbench, the position including motion platform
It moves, speed, and by these data feedbacks to main control module；
Second motion feedback mould detects the disturbing signal of workbench, and there are these types of situations:
The first, the second motion feedback module detects reaction signal as the first motion feedback module, and the present embodiment is then
The motion feedback information for referring to frame, displacement and speed including frame；It is described since the reaction signal is digital signal
Data conversion module do not need to convert the signal, and the digital signal of measurement is directly fed back into main control module；?
In main control module, by the motion feedback information of workbench and the motion feedback information of frame, the disturbance of motion platform is obtained
Signal；Specifically, the calculation method of the disturbing signal are as follows: by the displacement of frame, speed respectively with the displacement of workbench,
Speed makes the difference, and obtains the displacement difference and speed difference of frame and motion platform, it is poor to be denoted as the first displacement difference, First Speed.
Second, the second motion feedback module directly measures disturbing signal, i.e. the second direct measurement frame of motion feedback module
The displacement difference of frame and motion platform, speed difference.Due to the first, second situation calculate displacement difference, the subsequent calculating of speed difference
Process is identical, and two kinds of situations only will appear one kind simultaneously, therefore is the displacement calculated in this case convenient for statement
Difference, that speed difference is also referred to as the first displacement difference, First Speed is poor.In this case, capacitor can be used in the second motion feedback module
The measurement methods such as sensor, foil gauge, to measure disturbing signal, i.e. first displacement difference, First Speed is poor.Due to acquisition
Be analog signal, therefore be converted to digital signal by data conversion module, then feed back to main control module.
The third, when the second motion feedback module is not fed back, i.e., does not collect disturbing signal, then in main control module
In, the workbench by calculating displacement, the speed that the workbench is planned, with the acquisition of the first motion feedback module
Displacement, speed make the difference, result carries out subsequent processing as the disturbing signal that estimates.In this case, the second movement
This channel of feedback module does not input, and with the information of motion planning come when being substituted, which is also able to achieve list
Feedback driving estimation compensation function.
Main control module obtains motion planning information for carrying out motion planning to workbench；The motion planning letter
Breath includes the displacement of workbench, velocity and acceleration, can be obtained by measurement or Modeling Calculation；In addition, main control module according to
The motion planning information and motion feedback information obtains the control amount of workbench；The control amount is filtered and
Compensation estimates that the disturbance of workbench is poor later, the estimated value of disturbance difference is compensated into control amount, final control amount is obtained
It is controlled for the drive module to servo motor；It is specific as follows:
Firstly, main control module, by the displacement of workbench, speed, displacement, speed with planning make the difference respectively, obtained position
It moves poor, speed difference and is denoted as that second displacement is poor, second speed is poor；, second speed difference poor according to second displacement obtains workbench
Control amount；
Secondly, first displacement difference, First Speed difference will be obtained not multiplied by the rigidity of flexible hinge, damping
Results added, obtain flexible hinge measure perturbed force；The control amount of the workbench is filtered, then will be described
Measurement perturbed force and the acceleration compensation of planning are into control amount；Compensated control amount, second displacement difference are input to expansion
It opens in state observer, obtains the estimated value of workbench disturbance difference；The estimated value of disturbance difference is compensated to described compensated
In control amount, final control amount is obtained.
Wherein, the second speed difference poor according to second displacement obtains the control amount of workbench, comprising:
Proportional gain amplification is carried out to second displacement difference, then is increased to after second displacement difference progress differential calculation multiplied by ratio
Benefit obtains the control amount of workbench；
Or proportional gain amplification is carried out to second speed difference, obtain the control amount of platform.
In the present solution, targeted control object, i.e. workbench are Coupled Rigid-flexible platform, including it is mounted on mechanical guide
On frame and the workbench on the frame is connected to by the flexible hinge, workbench is by the servo
Motor driven.
In the present embodiment, the main control module includes: FPGA main control chip and internal storage location.Wherein, FPGA master control core
Piece is broadly divided into two parts, is logic control element and DSP operation unit respectively.Logic control element is responsible for receiving the letter of feedback
Number, it is then communicated to DSP operation unit and is handled, operation result is returned to logic control element again by DSP operation unit, most
Logic control element controls servo motor drive module according to obtained result afterwards.Internal storage location be responsible for store program and
Data, whenever starting driver, fpga chip reads information from internal storage location to initial configuration.The main control module is logical
Industry ethernet communicating circuit is crossed to be communicated with host computer.
In the present solution, there are two types of filtering modes, respectively software filtering and hardware filtering；It is described when for software filtering
Main control module in be provided with filtering algorithm.Described is filtered into hardware filtering, the driver further include: notch filter mould
Block, for carrying out low frequency signal notch filter to the control amount of the output；Signal synthesizing module, for will be after notch filter
The estimated value of control amount and disturbance difference synthesizes final control amount.
Preferably, the driver further include:
Power module is connect with pressure stabilizing rectification module, and wherein for providing power supply, pressure stabilizing rectification module is used for power module
Stable voltage and current is provided for servo motor；
Feedback module, including D/A converter module, coder module, current feedback acquiring unit, Voltage Feedback obtain list
Member and motor position feedback acquiring unit, in which:
Motor position feedback obtains the position that module is used to obtain servo motor, and location information is then passed to encoder
Location information is fed back to main control module by module, coder module；The D/A converter module is obtained with current feedback respectively
Module, Voltage Feedback obtain module electrical connection, and current feedback obtains module, Voltage Feedback obtains module and is respectively used to sampling servo
The analog quantity of the electric current of motor, voltage, and analog quantity is transferred to D/A converter module, D/A converter module converts analog quantity
Main control module is fed back to for digital quantity.Wherein, motor position feedback acquiring unit can be photoelectric coded disk, condenser type is absolutely compiled
Code device, angular encoder, magnetic coding disk.
Working principle of the present invention is as follows:
As shown in figures 1 and 2, it when driver is started to work, is initialized by memory, the logic control of FPGA main control chip
Molding block has four big functions: communicating with host computer, receives the feedback data of each measurement module, carries out information with DSP operation module
Exchange and control servo motor drive module；DSP operation unit is to feedforward arithmetic, pid algorithm and extended state observer (ESO)
Algorithm carries out acceleration calculation process.Wherein feedforward arithmetic refers in early period through the test to workbench, passes through workbench
The motion planning information that intrinsic attribute obtains then refers to the acceleration information in this programme；Pid algorithm then refers to calculating
The process of the control amount；ESO algorithm refers to the process of that estimate to obtain disturbance by ESO poor.
Particularly, Fig. 1 uses software filtering mode, therefore DSP operation unit includes filtering algorithm, and Fig. 2 uses hardware
Filtering mode, DSP operation unit do not include filtering algorithm.Respectively by two different filtering modes to meet workbench height
It is precisely controlled when speed movement.
Early period obtains feedforward data (movement rule by the test to control system, by the build-in attribute of high-speed motion platform
It draws and obtains acceleration)；Current feedback acquiring unit and Voltage Feedback acquiring unit obtain the actual current voltage value of servo motor,
Digital signal is converted analog signals by analog-to-digital conversion module, then feeds back to main control chip；Servo motor actual bit confidence
Number by feeding back to main control chip after coding disk resume module.
When Logic control module receives feedback data, which transfers data to DSP operation unit, wherein the number that feedovers
According to (acceleration of planning), feedback data (control amount) and external disturbance data (disturbance is poor) respectively correspond feedforward arithmetic, PID is calculated
Method and ESO algorithm carry out data processing.Feedforward arithmetic can speed up motion platform and quickly enter stable state；Pid algorithm is by mesh
Mark data and real data compare, and realize the full closed loop control of electric current loop, speed ring and position ring；The realization pair of ESO algorithm
The compensation of external disturbance, the error of compensating disturbance.
Existing platform mainly uses PID control, but due in Coupled Rigid-flexible platform flexible hinge intrinsic frequency it is low, cause
PID signal contains elastic vibration component, and PD control link amplifies disturbance, to be unable to high-speed motion.Since frequency is low,
After direct wave trap filter filters out, it will cause many motion frequencies and be removed.When therefore, using software filtering, as shown in Figure 1, filtering is calculated
Method needs individually to carry out notch filter processing to interference signal caused by PD control；When using hardware filtering, as shown in Fig. 2,
Notch filter module is set, the PD signal of logic control element output is filtered.After filtering processing, to mention
The high validity of control signal.
As shown in Figure 1, in software filtering mode DSP operation unit by the resulting control signal of final process (feed-forward signal+
ESO signal+filtered PD signal) it is transferred to logic control element, control signal is input to servo again by logic control element
The drive module of motor carries out corresponding control, finally realizes the control to workbench.
As shown in Fig. 2, DSP operation unit believes the feed-forward signal handled respectively, ESO signal and PD in hardware filtering mode
Number it is transmitted to logic control element.Logic control element exports two path control signal, is that feed-forward signal and ESO signal form respectively
Signal and PD signal.The PD signal of output inputs after notch filter resume module with feed-forward signal, ESO signal together
To signal synthesizing module.Two path control signal synthesis is controlled signal by signal synthesizing module all the way, is then input to servo motor
Drive module carries out corresponding control, finally realizes the control to platform.
Finally, main control chip is communicated by industry ethernet and host computer, and result is transferred to host computer.
Duplex path feedback of the present invention disturbs estimation compensation driver control flow chart (software filtering mode), such as schemes
Shown in 3:
1. FPGA main control chip initializes；
2. the first motion feedback module, the second motion feedback module, analog-to-digital conversion module and the processing of coding disk modular concurrent；
3. feedback data is transferred to logic control element；
4. feedback data is transferred to DSP operation unit and carries out data processing by logic control element；
5. DSP operation unit is by treated, result returns to logic control element；
6. logic control element makes corresponding driving to motor servo driver according to obtained result；
7. main control chip and host computer communication, the information such as host computer display control result.
Duplex path feedback of the present invention disturbs estimation compensation driver control flow chart (hardware filtering mode), such as schemes
Shown in 4:
1. FPGA main control chip initializes；
2. the first motion feedback module, the second motion feedback module, analog-to-digital conversion module and the processing of coding disk modular concurrent；
3. feedback data is transferred to logic control element；
4. feedback data is transferred to DSP operation unit and carries out data processing by logic control element；
5. DSP operation unit is by treated, result returns to logic control element；
6. logic control element exports two paths of signals, notch filter module is filtered and exports to PD signal；
7. two paths of signals is synthesized signal all the way and exported by signal merging module；
8. motor servo driver module receives control signal and makes corresponding driving；
9. main control chip and host computer communication, the information such as host computer display control result.
For the working principle for further illustrating the driver, be classified into below the single driving motion control of double grating scale measurement and
Grating scale power-up is illustrated in terms of holding the driving motion control two of sensor measurement list.Embodiment 1 passes through two optical grating ruler measurements
Distance obtains frame and workbench relative displacement after seeking difference, and directly measures relative displacement in embodiment 2.In the present solution,
Parameter subscript dot indicates derivative, and dot number is derivative order；Parameter subscript ^ indicates estimated value.
Embodiment 1
The present embodiment is the single driving motion control of double grating scale measurement.In embodiments of the present invention, Coupled Rigid-flexible platform master
To include mechanical guide, frame rigid body, flexible hinge, platform rigid body composition, set xM, xmRespectively frame rigid body and platform are rigid
The displacement of body,The respectively speed of frame rigid body and platform rigid body, M, m are respectively frame rigid body and platform rigid body
Quality, k, c are respectively the rigidity and damping of flexible hinge, and F is that driving unit acts on the driving force on platform rigid body, and f is frame
Frictional force between frame rigid body and mechanical guide, s, v, a are respectively the displacement of motion planning, velocity and acceleration.
Platform rigid motion mechanical response equation are as follows:
Frame rigid motion mechanical response equation are as follows:
The stress of flexible hinge are as follows:
After carrying out disturbance compensation, the dynamic response equation of platform rigid body are as follows:
Flexible hinge force bearing formulae (3) is substituting to the dynamic response equation of platform rigidity, i.e. formula (4), is put down
The equivalent power response equation of platform rigid body are as follows:
In the present embodiment, the equivalent power response equation for the platform rigid body that formula 5 obtains is friction free ideal platform.Frame
Frame rigid body is to overcome fricting movement under active force (measuring perturbed force) Δ f effect of flexible hinge, and the disturbance of friction causes frame
The variation of body panel acceleration and the deformation of flexible hinge, therefore the present embodiment will be unable to the friction force-disturbance of measurement be converted to can
It is acted on the flexible hinge of measurement.
By shift differences (second displacement the is poor) e=x-s and speed difference of actual feedback and motion planning
(second speed is poor)It is input in main control module, it is laggard to carry out proportional gain amplification to shift differences
Row differential calculation obtains workbench control amount multiplied by proportional gain.Then, trap is carried out to the platform rigid body control amount
Filtering processing, then the flexible hinge perturbed force Δ f and motion planning acceleration a that are measured are compensated in platform rigid body control amount
In.Finally, e is input in ESO together with control amount, platform is obtained
The estimated value of rigid body disturbance differenceThe estimated value of disturbance difference is compensated into the control amount of platform rigid body, just
Body platform transition is a undisturbed idealized system.
It takesAmount into ESO is e and control amount u, the then design of ESO are as follows:
Wherein, β1=3 ω, β2=3 ω2, β3=ω3, ω is the parameter for needing to adjust.
Final control amount are as follows:
Wherein, kpWith kdThe amplification coefficient of ratio and differential respectively in driver, for the positive number greater than 0.
Embodiment 2
The present embodiment is that the driving motion control of sensor measurement list is held in grating scale power-up.In the present embodiment, Coupled Rigid-flexible
Platform mainly includes mechanical guide, frame rigid body, flexible hinge, platform rigid body composition, sets xmFor the displacement of platform rigid body,
For the speed of platform rigid body, relative displacement of the x between platform rigid body and frame rigid body,For platform rigid body and frame rigid body it
Between relative velocity, M, m are respectively the quality of frame rigid body and platform rigid body, and k, c are respectively the rigidity and damping of flexible hinge,
F is that driving unit acts on the driving force on platform rigid body, frictional force of the f for frame rigid body and mechanical guide between, s, v, and a divides
It Wei not the displacement of motion planning, velocity and acceleration.
Platform rigid motion mechanical response equation are as follows:
Frame rigid motion mechanical response equation are as follows:
The stress of flexible hinge are as follows:
After carrying out disturbance compensation, the dynamic response equation of platform rigid body are as follows:
Flexible hinge stress type 10 is substituting to the dynamic response equation of platform rigidity, i.e. formula 11, it is rigid to obtain platform
The equivalent power response equation of body are as follows:
In the present embodiment, the equivalent power response equation for the platform rigid body that formula 12 obtains is friction free ideal platform.
Frame rigid body is to overcome fricting movement under the active force Δ f effect of flexible hinge, and the disturbance of friction causes framework platform to accelerate
The variation of degree and the deformation of flexible hinge, thus the present embodiment will be unable to measurement friction force-disturbance be converted to can measure it is soft
Property hinge effect.
By the shift differences e of actual feedback and motion planningy=xm- s and speed differenceIt is input to master control mould
In block, proportional gain amplification is carried out to speed difference, obtains workbench control amount.Then, to the platform rigid body control amount
Notch filter processing is carried out, then the flexible hinge perturbed force Δ f and motion planning acceleration a that are measured are compensated in platform rigid body
In control amount.Finally, e is input to ESO together with control amount
In, obtain the estimated value of platform rigid body disturbance differenceBy the control of the estimated value compensation of disturbance difference to platform rigid body
It is a undisturbed idealized system rigid body platform transition in amount processed.
It takesAmount into ESO is e and control amount u, the design of normal rank ESO are as follows:
Wherein, β1=3 ω, β2=3 ω2, β3=ω3, ω is the parameter for needing to adjust.
The design of control amount are as follows:
Wherein, kpWith kdThe amplification coefficient of ratio and differential respectively in driver, for the positive number greater than 0.
Finally according to the build-in attribute of control object, the control amount exported is plus feedforward, to form complete PID+
The control of feedforward+ESO algorithm.
When controlling program actual motion, parameter required for motion planning is arranged according to user's specific requirement, such as pid parameter
(kd,kp), motion platform quality, motion planning aim parameterWith adjustment parameter (ω, b0) then by upper
Machine setting, is then transferred in main control chip by industry ethernet, substitutes into its algorithm operation and obtain output control amount.
Claims (9)
1. a kind of duplex path feedback disturbs estimation compensation driver characterized by comprising
Disturbance Detection module, including the first motion feedback module and the second motion feedback module, wherein the first motion feedback module
For obtaining the motion feedback information of workbench, the second motion feedback module is used to obtain the disturbing signal of workbench；
Main control module obtains the motion planning information of workbench, then according to institute for carrying out motion planning to workbench
The motion planning information and motion feedback information stated obtain the control amount of workbench；The control amount is filtered and is mended
It repays, estimates that the disturbance of workbench is poor later, the estimated value of disturbance difference is compensated into control amount, obtain final control amount and use
It is controlled in the drive module to servo motor；
The motion feedback information of the workbench includes the displacement of workbench, speed；The disturbance of the workbench
Signal is poor including the first displacement difference, First Speed；
Described obtains the control amount of workbench according to the motion planning information and motion feedback information, comprising:
The motion planning information includes the displacement of workbench, velocity and acceleration；By the displacement of workbench, speed,
Displacement, speed with planning make the difference respectively, and obtained displacement difference, speed difference are denoted as that second displacement is poor, second speed is poor；According to
Two displacement differences, second speed difference obtain the control amount of workbench；
The control amount is filtered and is compensated, estimates that the disturbance of workbench is poor later, comprising:
By first displacement difference, First Speed difference not multiplied by the rigidity of flexible hinge, damping, the result phase that will be obtained
Add, obtains flexible hinge and measure perturbed force, the control amount of the workbench is filtered, then the measurement is disturbed
Power and the acceleration compensation of planning are into control amount；Compensated control amount, second displacement difference are input to expansion state to see
It surveys in device, obtains the estimated value of workbench disturbance difference.
2. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that first displacement
The acquisition methods of difference, First Speed difference are as follows:
Second motion feedback module obtain frame displacement and speed, by the displacement of frame, speed respectively with the position of workbench
Shifting, speed make the difference, and it is poor that obtained result is denoted as the first displacement difference, First Speed.
3. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that first displacement
The acquisition methods of difference, First Speed difference are as follows:
Displacement difference, speed difference between second motion feedback module gage frame, workbench, are denoted as the first displacement difference, first
Speed difference.
4. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that the workbench
For Coupled Rigid-flexible platform, the frame is connected to including the frame being mounted on mechanical guide and by the flexible hinge
On workbench, workbench drives by the servo motor.
5. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that according to second displacement
Difference, second speed difference obtain the control amount of workbench, comprising:
To second displacement difference carry out proportional gain amplification, then to second displacement difference carry out differential calculation after multiplied by proportional gain, obtain
To the control amount of workbench；
Or proportional gain amplification is carried out to second speed difference, obtain the control amount of platform.
6. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that described being filtered into is soft
Part filters, and is provided with filtering algorithm in the main control module.
7. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that described being filtered into is hard
Part filtering, the driver further include:
Notch filter module, for carrying out notch filter to control amount；
Signal synthesizing module, for the estimated value of control amount and disturbance difference after notch filter to be synthesized final control amount.
8. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that the driver is also
Include:
Power module is connect with pressure stabilizing rectification module, and wherein power module is used to watch for providing power supply, pressure stabilizing rectification module
It takes motor and stable voltage and current is provided；
Feedback module, including D/A converter module, coder module, current feedback acquiring unit, Voltage Feedback acquiring unit and
Motor position feedback acquiring unit, in which:
Motor position feedback obtains the position that module is used to obtain servo motor, and location information is then passed to encoder mould
Location information is fed back to main control module by block, coder module；The D/A converter module obtains mould with current feedback respectively
Block, Voltage Feedback obtain module electrical connection, and current feedback obtains module, Voltage Feedback obtains module and is respectively used to sampling servo electricity
The analog quantity of the electric current of machine, voltage, and analog quantity is transferred to D/A converter module, D/A converter module is converted to analog quantity
Digital quantity feeds back to main control module.
9. duplex path feedback as described in claim 1 disturbs estimation compensation driver, which is characterized in that the expansion state
The design of observer are as follows:
In above formula,M is the inertia of workbench, eyIt is poor for second displacement,For the estimated value of displacement difference,It is second
The estimated value of speed difference,For the estimated value of workbench disturbance difference, u is control amount, β1=3 ω, β2=3 ω2, β3=ω3, ω
To need the parameter adjusted.
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