CN110300932A - The design method of the filter of delay compensator and feedback, the control device of electric motor for using it - Google Patents
The design method of the filter of delay compensator and feedback, the control device of electric motor for using it Download PDFInfo
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- CN110300932A CN110300932A CN201880010381.8A CN201880010381A CN110300932A CN 110300932 A CN110300932 A CN 110300932A CN 201880010381 A CN201880010381 A CN 201880010381A CN 110300932 A CN110300932 A CN 110300932A
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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
- H02P6/34—Modelling or simulation for control purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The purpose of the present invention is to provide a kind of in the feedback control system being made of delay compensator and feedback controller, control object in the case where origin has pole for applying to the input terminal of control object the step of outside disturb and can make steady-state deviation zero, and parameter meaning physically can be specified and be easy the design method and the feedback with the filter and the control device of electric motor with the control method of the filter of the delay compensator of design.In order to achieve the above objectives, in the design method of the filter in the feedback control system being made of delay compensator and feedback controller, delay compensator is made of the model of control object and filter, filter is the function constituted in a manner of with difference-product quotient using the feedback controller of control object, the model of control object, the transmission function for the closed-loop system being made of the model of the feedback controller of control object and control object and the open-loop transfer function of closed-loop system.
Description
Technical field
The present invention relates to the design method of the filter in the feedback control system by delay compensator and feedback controller,
And use the feedback of the design method and the control device of electric motor with the control method, wherein delay is mended
Device is repaid to be made of the model of control object and filter.
Background technique
In recent years, in the field FA, in order to improve production, it is desirable that carry out increasingly high speed and high precision int to motor
Control.
When carrying out feedback control to motor, in order to inhibit to disturb outside and control amount be made to follow target at a high speed and accurately
Value, as long as improving control gain.But commonly known have: there is delay element, such as low-pass filtering in feedback control loop
In the case where the operating delay of device or numerical control device, due to this reason, in the setting of the control gain of feedback control system
Limit is restricted, and hampers high speed and accurately follows target value.
In the SERVO CONTROL of common motor, using about electric current, speed, the cascade feed back structure of position, such as Fig. 2
Shown, major cycle control system 21 becomes the structure comprising time cyclic control system 22 in feedback control loop.In addition, in Fig. 2,
23 be the control object of main cyclic control system, and 24 be the feedback controller of main cyclic control system.For example, with cascade feed back
Based on structure, when carrying out position control and speed control to motor, major cycle control system 21 becomes position control system,
Secondary cyclic control system 22 become the structure comprising speed control system, at least 1 to origin have pole control object into
Row processing.Therefore, in current Smith method of representative delay compensation method etc., exist to the application of the input terminal of control object
The problem of steady-state deviation residual disturbed outside step.
Therefore, in order in the closed loop that control object also can compensate for feedback control system in the case where origin has pole
Existing delay element, proposition, which has non-patent literature 1 and non-patent literature 2 to be used as, can without steady-state deviation inhibit to control pair
The delay compensation method disturbed outside the step of input terminal of elephant applies.
In non-patent literature 1, as shown in Figure 1, proposing the delay compensation for adding filter 1 in current Smith method
Device 2, indicating to be able to solve present in Smith method (structure of the case where filter 1=1 in Fig. 1), in control object has
The problem of remaining for a long time close to the influence disturbed outer in the case where the pole of origin and there is the case where pole in origin in control object
Under, the filter 1 for the problem of remaining steady-state deviation in the inhibition disturbed outside the step of applying to the input terminal of control object is set
Meter method.
In addition, in non-patent literature 2, as shown in figure 3, proposing and adding filter 41 in current Smith method
The similar control module of non-patent literature 1, there is shown disturb the improvement of rejection outside and even if having in control object in origin
Also it can without steady-state deviation inhibit the filter 41 disturbed outside the step of applying to the input terminal of control object in the case where having pole
Design method.
Existing technical literature
Non-patent literature
Non-patent literature 1: crossing portion etc., the improvement for the outer control characteristic disturbed of Smith method, and Japan's measurement automatically controls
Association's collection of thesis, volume 19, No. 3, pp.187-192,1983.
Non-patent literature 2:H.P.Huang et.al., A Modified Smith Predictor with an
Approximate Inverse of Dead Time, AiChE Journal, Vol.36, pp.1025-1031,1990.
Summary of the invention
The technical problems to be solved by the invention
In non-patent literature 1, filter 1 transmits the nominal of element by arbitrary time lag of first order such as shown in following formula (1)
The linear and composition of the denominator frequency n+1 of object model.
Even if there is pole in origin in control object, and the step of applying in Smith method to the input terminal of control object
In the case where disturbing residual steady-state deviation outside, by suitably constituting filter 1, it can also make steady-state deviation zero.In order to become
Meet the filter of this requirement, parameter bk contained by formula (1) is in a manner of meeting defined design constraints by a meaning ground
It determines, but there are the following problems: about n+1 parameter ak, as positive number, providing freedom degree that can be arbitrarily devised, and its
Policy and interrogatory physically are set, parameter designing appropriate is not easily accomplished for the specification of control system.
In addition, as shown in following formula (2), constituting filter 41 in non-patent literature 2.
Wherein, the whole nominal delay times for the delay element that τ h includes by controller or control object.Even if
There is pole in origin in control object, and disturb residual stable state outside the step of applying in Smith method to the input terminal of control object
In the case where deviation, by suitably constituting filter 41, it can also make steady-state deviation zero.B (s) can select such as to meet attached
It is added on arbitrary low-pass filter as the defined design constraints of filter 41, but there are the structure of filter and filters
The problem of freedom degree of the design of wave device parameter is high, is not easily accomplished filter appropriate design for the specification of control system.
The present invention is completed in view of problem as described above, it is intended that providing delay compensator shown in FIG. 1
The design method of filter and the feedback with the delay compensator for using the filter and have the feedback
The control device of electric motor of control method, even if there is pole in origin in control object, and to control object in Smith method
In the case where disturbing residual steady-state deviation outside the step of input terminal applies, it can also make steady-state deviation zero, and can distinguish parameter
Meaning physically, be easy design.
Technical teaching for solving the problem was
The present invention in view of the aforementioned technical background and problem and complete, lift its an example, for it is a kind of by delay compensator and
Feedback controller constitute feedback control system in filter design method, delay compensator by control object model and
Filter is constituted, wherein the model of control object is by the nominal delay that includes in nominal object model and feedback control system
Model is constituted, and delay compensator, will using the output signal of the feedback controller operating quantity exported and control object as input signal
The output signal of the model of the output signal of control object and control object corresponding with the operating quantity of feedback controller output
Subtract each other to obtain error signal by adder subtractor, will to the error signal act on filter obtained from signal and with feedback
The output signal of the corresponding nominal object model of operating quantity of controller output is believed obtained from being added as adder subtractor
Number it is used as output signal, feedback controller passes through the output signal of adder subtractor computing relay compensator and target value signal
Deviation, and control object being compensated based on deviation, filter be using it is any one of following and with difference-product quotient
The function that mode is constituted: the arbitrary feedback controller of control object；The model of control object；By the arbitrary anti-of control object
Present the transmission function of the closed-loop system of the model composition of controller and control object；With the open-loop transfer function of closed-loop system.
Invention effect
In accordance with the invention it is possible to be easy to distinguish the meaning physically of the parameter of filter, the design guideline of parameter is specified,
And filter design can be made to become easy.
Detailed description of the invention
Fig. 1 is the structure chart of the feedback control system of the delay compensator comprising embodiment 1.
Fig. 2 is the structure chart of the cascade feed back control system of Motor Control.
Fig. 3 is the structure chart of the control system of non-patent literature 2.
Fig. 4 is the structure chart of the control system other than non-patent literature 2.
Fig. 5 is the structure chart of the control system other than non-patent literature 2.
Fig. 6 is the structure chart of the speed control system of the AC servomotor of embodiment 2.
Fig. 7 is the structure chart of the speed control system of the delay compensator comprising embodiment 2.
Fig. 8 is the structure chart of the speed control system comprising the delay compensator other than non-patent literature 2.
Specific embodiment
Hereinafter, being illustrated referring to attached drawing to the embodiment of the present invention is applied.
In addition, in the various figures, to having the function of that common structural element assigns identical serial number, and the description thereof will be omitted.
In addition, following " feedback " is slightly denoted as " FB ".In addition, " model of control object " has when " model of control object " mentioned below
The case where indicating the nominal object model of control object, or have expression control object, controller, sensor and closed-loop system memory
Delay element a part or entirety nominal delay model the case where, also have indicate include control object nominal object
The case where model and the nominal model of nominal delay model both sides.
Embodiment 1
Fig. 1 is the structure chart of the feedback control system of the delay compensator comprising the present embodiment.In the present embodiment, scheming
In 1, filter 1, and the feedback control including the delay compensator with the filter are designed to by aftermentioned design method
The method of motor control and control device of electric motor of method and the feedback with the compensator are illustrated.
In Fig. 1, the control object 32 comprising delay carries out FB control by FB controller 36 and delay compensator 2.
Delay compensator 2 is inside it with the model of control object, and in the present embodiment, the model of control object is by marking
Object model 34 and nominal delay model 35 is claimed to constitute.In addition, being controlled in closed-loop system comprising low-pass filter and secondary circulation
In the case where the element that system processed etc. postpones, or include these delay elements in nominal delay model 35
The element of nominal model.
According to the output signal of the output signal y of control object corresponding with operating quantity and the model of control object, pass through
39 error signal of adder subtractor, and signal and nominal object model 34 obtained by filter 1 are acted on to the error signal
Output signal be added by adder subtractor 310, thus the output signal of computing relay compensator.The output of delay compensator
Signal is the value prediction signal for considering the output signal of control object for the delay element that control object includes, and is subtracted by addition
Musical instruments used in a Buddhist or Taoist mass 37 calculates the deviation of value prediction signal and target value signal r, and FB controller 36 is based on the deviation and mends to control object
It repays.
If it is assumed that disturbing the ideal state that also do not intervene without model errors and outside, then pass through adder subtractor 39
The error signal of calculating is zero, it is believed that FB controller 36 does not include nominal delay model 35 in closed loop, and to nominal object
Model Pm carries out FB control, and as a result, it is possible to will be readily understood that the control gain that FB controller 36 can be improved.
The design method of the filter 1 of FB control system as Fig. 1, filter 1 are to use the arbitrary of control object
FB controller, the model of control object, by the model of arbitrary FB controller and above-mentioned control object to above-mentioned control object
Any one of the transmission function of the closed-loop system of composition and the open-loop transfer function of above-mentioned closed-loop system, with the shape with difference-product quotient
Formula constitute function, and filter 1 belong to even if control object origin have pole and in Smith method to control object
Also it can make the set of the filter of steady-state deviation zero in the case where disturbing residual steady-state deviation outside the step of input terminal applies.
Hereinafter, the arbitrary FB controller of control object is labeled as Ca.In addition, FB controller Ca is also possible to control with FB
The mutually isostructural controller of device 36.In the case where FB controller Ca and FB controller 36 is identical structure, each control design case
Parameter can independently be set, can also be with subordinate.
Hereinafter, being illustrated to the design example of the filter 1 according to above-mentioned design method.
" model of control object " in the design method of above-mentioned filter 1 is set as according to Fig. 1 in the present embodiment
Model shown in following formula (3)~(5).Wherein, formula (3) indicates the nominal object model of the control object P of Fig. 1, and formula (4) indicates
The nominal delay model for the delay element that the entirety of control object is included, formula (5) indicate that the control object comprising delay is complete
The nominal model of body.
Pm …(3)
It is above-mentioned " by the arbitrary FB controller of above-mentioned control object and above-mentioned control object in addition, in the present embodiment
The transmission function of closed-loop system that constitutes of model " such as being set as formula (6) as shown below, formula (7).
In addition, in the present embodiment, above-mentioned " open-loop transfer function of above-mentioned closed-loop system " is for example set as following institute
Formula (8), formula (9) for showing etc..
RmCa …(9)
Therefore, according to the design method of above-mentioned filter 1, for example, filter 1 set according to formula (3)~(9), it is as follows
It states function F as formula (10) and constitutes its partial set.
In the case where FB controller Ca and FB controller 36 is set as identical structure, FB controller Ca can be such as following formula
(11) it is arranged like that.
In the present embodiment, according to the design method of above-mentioned filter 1, under filter 1 can specifically be enumerated for example
State formula (12).That is, by nominal object model (formula (3)), the nominal model (formula (5)) of control object comprising delay inverse,
By the transmission function for the closed-loop system that the feedback controller of the nominal model of the control object comprising delay and control object is constituted
The reciprocal multiplication of the transmission function (formula (7)) of (formula (6)), the closed-loop system being made of nominal object model and feedback controller.
In addition to this, following formula (13) is enumerated as filter 1 for example using the performance of two different FB controllers.
In addition, in addition to this, enumerating formula (14) as filter 1 for example using the performance of two different FB controllers.
Then, filter 1 shown in formula (12)~(14) is in the design method of above-mentioned filter 1 to for full
Foot " can also make steady-state deviation in the case where origin has pole in control object as the condition of the element of the set of filter
Condition attached by the FB controller Ca for being zero ".
Use the end value theorem disturbed outside the unit step applied shown in following formula (15) to the input terminal of control object.
Wherein, y is control object output, d be that apply to the input terminal of control object outer is disturbed, and Hdy (s) is from d to y
Transmission characteristic is formula below (16)~(19).
τ≡τf+τb …(19)
As N=1, the FB control system of Fig. 1 is equivalent to current Smith method, but control object only has one in origin
A pole, and in the case where showing as following formula (20),
Assuming that no model errors, then be following formula (21),
P=Rm, τ=τm …(21)
Even if in the case where FB controller 36 has integrator and meets following formula (22),
The steady-state deviation disturbed is according to the end value theorem of formula (15) outside the unit step applied to the input terminal of control object,
Such as following formula (23),
Because the 2nd, the right becomes non-zero, it is believed that in the Smith method of standard, it cannot be except whereabouts control object
It is disturbed outside the unit step that input terminal applies.
Based on the design method of above-mentioned filter 1, when designing filter 1, in order to remove the input terminal of whereabouts control object
It is disturbed outside the unit step of application, it is assumed that when FB controller 36 meets formula (22), according to formula (16), as long as be while meeting following formula
(24), the filter 1 of (25).
According to following formula (26),
In the case where the formula that is assumed to (20) and formula (22), the condition of formula (25) is written as formula (27).
When compared with the 2nd on the right of formula (23), it is believed that, can be without steady by meeting the effect of the filter 1 of formula (27)
Disturbed in addition to the unit step that the input terminal of inexpungible control object in the Smith method of whereabouts standard applies to state deviation.
In the case where filter 1 is set as formula (12)~(13), in the formula for meeting the design condition as filter 1
(24) and in formula (27), as long as FB controller Ca is following formula (28),
Such as P controller (proportional element) and time lag of first order system etc. are satisfied with this.In addition, filter 1 is set as formula
(14) in the case where, as long as being following formula (29),
That is, as long as FB controller Ca has integrator.
According to above-mentioned, filter 1 shown in formula (12)~(13) that are constituted using the FB controller Ca for meeting formula (28) and
Design side of the filter 1 based on above-mentioned filter 1 shown in the formula (14) constituted using the FB controller Ca for meeting formula (29)
Method and be designed, it may be said that the element of above-mentioned filter set is enough.
Under the premise of the model of control object and its parameter are all known, the filter 1 that designs through this embodiment
As according to formula (10), (12)~(14), only control design case contained in FB controller Ca and FB controller 36 is joined
Number becomes the design value of filter.In FB Control System Design, the control of FB controller Ca and the FB controller 36 of control object
In the case that design parameter processed is more, it will appreciate that meaning physically, specify design guideline.In particular, by FB controller Ca
In the case where being set as formula (11), the meaning physically and design guideline and FB of the control design case parameter of FB controller Ca can be made
Controller 36 is identical, being capable of meaning definitely physically and design guideline.
As described above, the meaning physically of the parameter of filter 1 is easy to distinguish, the design of parameter according to the present embodiment
Policy is explicitly, filter design can be made to facilitate.
Hereinafter, being conceived to the difference of formula (12)~(14) filter 1 designed in the present embodiment and being discussed.
Low-pass filter B (s) is set as by the characteristic of the delay compensation of the filter 1 of formula (12) in non-patent literature 2
The case where following formula (30), is identical.
B(s)≡PmCa …(30)
On the other hand, formula (13), the filter 1 of formula (14) are different from formula (12), it is therefore contemplated that having and the formula of using
(30) characteristic of the different delay compensation of non-patent literature 2.
The FB control system of Fig. 1 of filter 1 with formula (13) can be changed to using the FB for meeting formula (28)
Controller Ca come filter by control object model generation control amount y prediction error structure delay compensator 52 figure
4 structure has on an equal basis if it is following formula (31), Fig. 4 with the FB control system of Fig. 1 of the filter 1 with formula (13)
Control performance.
M(s)≡Ca …(31)
The FB control system of Fig. 1 of filter 1 with formula (14) can be changed to have comprising disturbing observation structure outside
The structure of Fig. 5 of delay compensator 62, at this point, if it is following formula (32), Fig. 1's of Fig. 5 and the filter 1 with formula (14)
FB control system has same control performance.
As described above, only the design parameter of filter 1 is being limited according to the design method of the filter 1 of the present embodiment
On basis for control design case parameter, freedom degree is recognized in the structure of filter 1, comprising real in the set of filter
The now outer filter of disturbing rejection same with non-patent literature 2, it is outer other than capable of also designing with non-patent literature 2
Filter 1 as the formula (13) and formula (14) of rejection is disturbed, therefore, in addition to original delay compensation method, can clearly be gone out
There is the method for being able to suppress and disturbing outside the step of applying to the input terminal of control object as Fig. 4, Fig. 5 (delay compensator
Other modular structures).
As described above, the present embodiment is the filter in the feedback control system being made of delay compensator and feedback controller
The design method of wave device, wherein delay compensator is made of the model of control object and filter, and the model of control object is by marking
The nominal delay model for including in object model and feedback control system is claimed to constitute, delay compensator is exported with feedback controller
Operating quantity and control object output signal be input signal, by the output signal of control object and with feedback controller export
The output signal of model of the corresponding control object of operating quantity subtract each other to obtain error signal by adder subtractor, will be right
The error signal acts on signal obtained from filter and nominal object mould corresponding with the operating quantity of feedback controller output
Signal obtained from the output signal of type is added as adder subtractor passes through addition subtraction as output signal, feedback controller
The output signal of device computing relay compensator and the deviation of target value signal, and control object is compensated based on deviation,
Filter is using function that is any one of following and being constituted in a manner of with difference-product quotient: the arbitrary feedback control of control object
Device processed；The model of control object；The closed loop system being made of the model of the arbitrary feedback controller of control object and control object
The transmission function of system；With the open-loop transfer function of closed-loop system.
In addition, filter is using function that is any one of following and being constituted in a manner of with difference-product quotient: with control pair
The mutually isostructural other feedback controllers of the feedback controller of elephant；The model of control object；By other feedback controllers and
The transmission function for the closed-loop system that the model of control object is constituted；With the open-loop transfer function of closed-loop system.
In addition, filter belong to control object origin have pole in the case where for the input terminal to the control object
The set that can make the filter of steady-state deviation zero is disturbed outside the step of application.
As a result, in filter 1, only control design case parameter contained in the feedback controller of control object is filter 1
Design parameter will appreciate that meaning physically, specify design guideline in the case where more than the control design case parameter, therefore, be easy
The meaning physically for distinguishing the parameter of filter 1 specifies the design guideline of parameter, and filter design can be made to facilitate.
In addition, only the design parameter of filter 1 is limited on the basis of control design case parameter, in the structure of filter 1 certainly
It is recognized by degree, comprising realizing the outer filter of disturbing rejection same with non-patent literature 2 in the set of filter 1,
Therefore prolong except existing in addition it is possible to design with the outer filter 1 for disturbing rejection in addition to non-patent literature 2
Other than slow penalty method, it can clearly go out the method for existing and being able to suppress and disturbing outside the step of applying to the input terminal of control object and (prolong
Other modular structures of slow compensator).Therefore, be capable of providing the filter with above-mentioned dominance design method and
Control method shown in FIG. 1 with the filter designed based on the design method and with the control device of the control method.
Embodiment 2
Fig. 6 is the structure chart of the speed control system of the AC servomotor of the present embodiment.In the present embodiment, setting figure
Speed control system 71 in the cascade FB control system of AC servomotor shown in 6, in Fig. 6, including speed control
72 and the control object that is made of the structure except it, speed control 72 there is the FB comprising delay compensator shown in FIG. 1
Controller, in Fig. 1, filter 1 is designed by aftermentioned design method.In addition, to having the delay including the filter
The feedback of the speed control system of compensator and method of motor control and electricity with the feedback
Motivation control device is illustrated.
In the present embodiment, the model Gsm of control object is specially model shown in following formula (33)~(35).
The Psm of formula (34) is the nominal object model in speed control system, and the Mi of formula (35) is by speed control system
In the Utopian model of current control system as time cyclic control system, τ sm is current control system and speed control
The summation of whole delays included in the closed loop of system.In addition, J, Ka, Pp be respectively inertia, it is motor fixed number, extremely right
Number, ω i are the response frequency of current control system.
The speed control 72 of speed control system is PI controller, is set as following formula (36)~(38).
Wherein, L, ω s be respectively breakpoint than, speed control system response frequency.In general, in order to by current control system
It is considered as several times~10 times that 1, ω of approximation i is set as ω s.
When the high responseization for speed control system improves ω s, as long as not improving ω i simultaneously, current control system
System cannot approximation 1, and need be regarded as delay element.In this case, current control system is 1 time as shown in formula (35)
Postpone element, needs to be regarded as to postpone element.
In the present embodiment, current control system is considered as delay element, the control module structure base of speed control system
The structure of Fig. 7 is set as in Fig. 1.
In the FB control system of Fig. 7, in the present embodiment, as the design method of filter 81, filter 81 is to make
With function that is any one of following and being constituted in a manner of with difference-product quotient: the arbitrary FB controller of control object；Control pair
The model of elephant；By the transmission function for the closed-loop system that the model of the arbitrary FB controller of control object and control object is constituted；
With the open-loop transfer function of above-mentioned closed-loop system, also, filter 81 belong to control object origin have pole and for
Steady-state deviation can also be made in the case where disturbing residual steady-state deviation outside the step of applying in Smith method to the input terminal of control object
The set for the filter for being zero.
Here, above-mentioned " the arbitrary FB controller of control object " is labeled as Csa, the design of the filter 1 of the present embodiment
" model of control object " of method is for example set as following formula (39)~(41).
Psm …(39)
According to the design method of above-mentioned filter, the filter 81 of Fig. 7 is for example designed as and formula (12) same following formula
(42).That is, by nominal object model (formula (39)), the nominal model (formula (41)) of control object comprising delay inverse, by
The transmission function for the closed-loop system that the feedback controller of the nominal model of control object comprising delay and control object is constituted, with
And the reciprocal multiplication of the transmission function for the closed-loop system being made of nominal object model and feedback controller.
In addition, having the delay compensator 82 of the filter 81 of formula (42) by the low-pass filter B in non-patent literature 2
(s) it is set as following formula (43), and the characteristic of delay compensation is identical as the case where considering Mi in postponing element.
B(s)≡PsmCsa …(43)
In the present embodiment, for FB controller Csa, as shown in following formula (44), there is knot identical as FB controller 36
Structure, and the control design case parameter is set as the parameter being independently determined relative to FB controller 86.The filter 81 designed like this,
It, can be without steady-state deviation in addition to the unit step that the input terminal of whereabouts control object applies since Csa meets formula (28)
It disturbs.
As a result, the design parameter of filter 81 contained by formula (42) only becomes ω s2, the meaning physically of the parameter
Therefore in the present embodiment, the design of filter 81 is specified for the response frequency of the speed control system as shown in formula (36)
The setting policy of parameter facilitates filter design.
Also, filter 81 can also be designed as same as formula (13) according to the design method of above-mentioned filter.Into
And filter 81 can also be designed as by the same following formula (45) with formula (14) according to the design method of above-mentioned filter.
In addition, about FB controller Csa, it is assumed that be formula (44), then Csa meets the condition of formula (29), so according to above-mentioned
The filter 81 that the design method of filter is designed as formula (45) can remove whereabouts control object without steady-state deviation
The filter disturbed outside the unit step that input terminal applies.
As a result, the design parameter of filter 81 contained in formula (45) becomes ω s1, ω s2, the parameter physically
Meaning is the response frequency of the speed control system indicated by formula (36), therefore, specifies that it sets policy, designs filter
It facilitates.
In addition, the FB control system of Fig. 7 of the filter 81 with formula (45) can be changed to have comprising disturbing observation outside
Fig. 8 of the delay compensator 92 of structure, at this point, if it is following formula (46), Fig. 7 of Fig. 8 and the filter 81 with formula (45)
FB control system have same control performance.
As described above, only the design parameter of filter 81 is being limited according to the design method of the filter 81 of the present embodiment
It is made as on the basis of control design case parameter, freedom degree is recognized in the structure of filter 81, removes original delay compensation method
In addition, the method (delay for existing as shown in Figure 8 and being able to suppress and disturbing outside the step of applying to the input terminal of control object can clearly be gone out
Other modular structures of compensator).
Symbol description
1 ... filter
2 ... delay compensators
21 ... major cycle control systems
22 ... secondary cyclic control systems
The control object of 23 ... major cycle control systems
The feedback controller of 24 ... major cycle control systems
25,37~39,310,64,712 ... adder subtractor
32 ... the control objects comprising delay
34 ... nominal object models
35 ... nominal delay models
36 ... feedback controllers
The filter of 41 ... non-patent literatures 2
The filter of delay compensator other than 51 ... non-patent literatures 2
Delay compensator other than 52 ... non-patent literatures 2
The filter of delay compensator other than 61 ... non-patent literatures 2
Delay compensator other than 62 ... non-patent literatures 2
The speed control system of 71 ... motor
77 ... AC servomotors
78 ... current detectors
The filter of the delay compensator of 81 ... speed control systems
The delay compensator of 82 ... speed control systems
The control object of 83 ... speed control systems
The delay element of 85 ... speed control systems
The filter of delay compensator other than 91 ... non-patent literatures 2
Delay compensator other than 92 ... non-patent literatures 2.
Claims (13)
1. a kind of design method of the filter in feedback control system being made of delay compensator and feedback controller, described
Delay compensator is made of the model of control object and filter, and the design method of the filter is characterized in that:
The model of the control object is by the nominal delay model that includes in nominal object model and the feedback control system
It constitutes,
The delay compensator using the output signal of the feedback controller operating quantity exported and control object as input signal,
By the output signal of the control object and with the corresponding control object of operating quantity of feedback controller output
The output signal of model subtracts each other to obtain error signal by adder subtractor, will act on the error signal filter and
The output signal of obtained signal and the nominal object model corresponding with the operating quantity of feedback controller output is logical
Signal obtained from adder subtractor is added is crossed as output signal,
The feedback controller calculates the output signal and target value signal of the delay compensator by adder subtractor
Deviation, and the control object is compensated based on the deviation,
The filter is using function that is any one of following and being constituted in a manner of with difference-product quotient: the control object
Arbitrary feedback controller；The model of the control object；Arbitrary feedback controller and the control by the control object
The transmission function for the closed-loop system that the model of object processed is constituted；With the open-loop transfer function of the closed-loop system.
2. the design method of filter according to claim 1, which is characterized in that
The filter is using function that is any one of following and being constituted in a manner of with difference-product quotient: with the control object
The mutually isostructural other feedback controllers of feedback controller；The model of the control object；By other feedback controls
The transmission function for the closed-loop system that device processed and the model of the control object are constituted；Letter is transmitted in open loop with the closed-loop system
Number.
3. the design method of filter according to claim 1, which is characterized in that
The filter belong to the control object origin have pole in the case where for the input terminal to the control object
The set that can make the filter of steady-state deviation zero is disturbed outside the step of application.
4. the design method of filter according to claim 2, which is characterized in that
The filter belong to the control object origin have pole in the case where for the input terminal to the control object
The set that can make the filter of steady-state deviation zero is disturbed outside the step of application.
5. the design method of filter according to claim 1,
The filter be the nominal model by the nominal object model, the control object comprising delay inverse, by
The closed-loop system that the nominal model of the control object comprising delay and the feedback controller of the control object are constituted
Transmission function and the closed-loop system being made of the nominal object model and the feedback controller transmission function fall
Obtained from number is multiplied respectively.
6. the design method of filter according to claim 5, which is characterized in that
The filter belong to the control object origin have pole in the case where for the input terminal to the control object
The set that can make the filter of steady-state deviation zero is disturbed outside the step of application.
7. the design method of filter according to claim 6, which is characterized in that
The filter be the nominal model by the nominal object model, the control object comprising delay inverse, by
It is described comprising delay the control object nominal model and with the feedback controller of the control object it is mutually isostructural its
It the transmission function for the closed-loop system that his feedback controller is constituted and by the nominal object model and described other feeds back
Obtained from the multiplication respectively reciprocal of the transmission function for the closed-loop system that controller is constituted.
8. a kind of feedback, described using the feedback control system being made of delay compensator and feedback controller
Delay compensator is made of the model of control object and filter, and the feedback is characterized in that:
The model of the control object is by the nominal delay model that includes in nominal object model and the feedback control system
It constitutes,
The delay compensator using the output signal of the feedback controller operating quantity exported and control object as input signal,
By the output signal of the control object and with the corresponding control object of operating quantity of feedback controller output
The output signal of model subtracts each other to obtain error signal by adder subtractor, will act on the error signal filter and
The output signal of obtained signal and the nominal object model corresponding with the operating quantity of feedback controller output is logical
Signal obtained from adder subtractor is added is crossed as output signal,
The filter is made of function, which is using letter that is any one of following and being constituted in a manner of with difference-product quotient
Number: the arbitrary feedback controller of the control object；The model of the control object；By the arbitrary anti-of the control object
Present the transmission function of the closed-loop system of the model composition of controller and the control object；Open loop with the closed-loop system is transmitted
Function,
The feedback controller calculates the output signal and target value signal of the delay compensator by adder subtractor
Deviation, and the control object is compensated based on the deviation.
9. feedback according to claim 8, which is characterized in that
The filter is made of function, which is using letter that is any one of following and being constituted in a manner of with difference-product quotient
Number: with the mutually isostructural other feedback controllers of the feedback controller of the control object；The model of the control object；By
The transmission function for the closed-loop system that the others feedback controller and the model of the control object are constituted；With the closed loop system
The open-loop transfer function of system.
10. feedback according to claim 8, which is characterized in that
The filter be the nominal model by the nominal object model, the control object comprising delay inverse, by
The closed-loop system that the nominal model of the control object comprising delay and the feedback controller of the control object are constituted
Transmission function and the closed-loop system being made of the nominal object model and the feedback controller transmission function fall
Obtained from number is multiplied respectively.
11. a kind of control device of electric motor uses the feedback control system being made of delay compensator and feedback controller, institute
It states delay compensator to be made of the model of control object and filter, the control device of electric motor is characterized in that:
The model of the control object is by the nominal delay model that includes in nominal object model and the feedback control system
It constitutes,
The delay compensator using the output signal of the feedback controller operating quantity exported and control object as input signal,
By the output signal of the control object and with the corresponding control object of operating quantity of feedback controller output
The output signal of model subtracts each other to obtain error signal by adder subtractor, will act on the error signal filter and
The output signal of obtained signal and the nominal object model corresponding with the operating quantity of feedback controller output is logical
Signal obtained from adder subtractor is added is crossed as output signal,
The filter is made of function, which is using letter that is any one of following and being constituted in a manner of with difference-product quotient
Number: the arbitrary feedback controller of the control object；The model of the control object；By the arbitrary anti-of the control object
Present the transmission function of the closed-loop system of the model composition of controller and the control object；Open loop with the closed-loop system is transmitted
Function,
The feedback controller calculates the output signal and target value signal of the delay compensator by adder subtractor
Deviation, and the control object is compensated based on the deviation.
12. control device of electric motor according to claim 11, which is characterized in that
The filter is made of function, which is using letter that is any one of following and being constituted in a manner of with difference-product quotient
Number: with the mutually isostructural other feedback controllers of the feedback controller of the control object；The model of the control object；By
The transmission function for the closed-loop system that the others feedback controller and the model of the control object are constituted；With the closed loop system
The open-loop transfer function of system.
13. control device of electric motor according to claim 11, which is characterized in that
The filter be the nominal model by the nominal object model, the control object comprising delay inverse, by
The closed-loop system that the nominal model of the control object comprising delay and the feedback controller of the control object are constituted
Transmission function and the closed-loop system being made of the nominal object model and the feedback controller transmission function fall
Obtained from number is multiplied respectively.
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| JP2017054595A JP7039176B2 (en) | 2017-03-21 | 2017-03-21 | Delay compensator filter design method, feedback control method using it, motor control device |
| JP2017-054595 | 2017-03-21 | ||
| PCT/JP2018/007308 WO2018173654A1 (en) | 2017-03-21 | 2018-02-27 | Method for designing filter of delay compensator, feedback control method using same, and motor control device |
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| CN114384804A (en) * | 2022-01-12 | 2022-04-22 | 中国人民解放军国防科技大学 | Method for counteracting influence of zero point of transfer function of closed loop system when tracking instruction is zero |
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| JP6979330B2 (en) * | 2017-10-30 | 2021-12-15 | 株式会社日立産機システム | Feedback control method and motor control device |
| WO2020075344A1 (en) * | 2018-10-09 | 2020-04-16 | 株式会社日立産機システム | Feedback control method and feedback control device |
| TWI755704B (en) * | 2019-05-14 | 2022-02-21 | 日商富士金股份有限公司 | Flow control device, flow control method, control program for flow control device |
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- 2018-02-27 CN CN201880010381.8A patent/CN110300932B/en active Active
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- 2018-02-27 KR KR1020197017419A patent/KR102207756B1/en active IP Right Grant
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| CN110300932B (en) | 2022-08-02 |
| KR102207756B1 (en) | 2021-01-26 |
| WO2018173654A1 (en) | 2018-09-27 |
| DE112018000468T5 (en) | 2019-10-02 |
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| JP2018156557A (en) | 2018-10-04 |
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