CN110568836B - Dynamic performance debugging method and system suitable for servo system - Google Patents
Dynamic performance debugging method and system suitable for servo system Download PDFInfo
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Abstract
The invention provides a dynamic performance debugging method and a dynamic performance debugging system suitable for a servo system, which comprise the following steps: debugging and confirming the matching of the servo controller and the motor and the correctness of three phases of the motor; confirming the correctness and the accuracy of the sensor; confirming the matching of the three-phase current and a rotary encoder and the initial angle of the rotary encoder; a current loop control step; confirming the correctness of the motor speed calculating program; a speed loop control step; a position loop control step; realizing the steps of control instruction, parameter binding and telemetering message protocol communication; a step of making the servo system have a preset dynamic response performance; and enabling the load servo system to have a preset dynamic response performance step. The invention can be debugged under the loading condition in the most real environment, reduces the simulation links, can envelop the high-power electromagnetic environment, ensures that all parameters of the system are most accurate, and can obtain the optimal dynamic performance of the servo system.
Description
Technical Field
The invention relates to the field of electric servo systems, in particular to a dynamic performance debugging method and system suitable for a servo system, and particularly relates to a dynamic performance debugging method for a high-power servo system.
Background
With the development of the motor industry, more and more servo driving systems adopt an electric mode to replace a hydraulic mode. In the field of space engineering carrier rockets, the volume and weight of a servo system are strictly limited, and electric servo systems are widely applied. In a high-thrust carrier rocket, a high-power electric servo system is required for carrying out swing control on an engine, and the servo system is required to have high dynamic response capability. The electric servo system mainly comprises a servo controller, a servo motor, a servo mechanism, a power supply, control and communication software and the like. The workflow of the whole electric servo system can be described as follows: the servo controller receives a control signal from a superior level, simultaneously acquires feedback data, obtains current output three-phase current through a servo control algorithm after correction, filtering and the like, drives the servo motor to rotate, transmits the current output three-phase current to the servo mechanism to drive the load device, transmits the feedback data to the superior level computer through the communication interface for man-machine interaction, and provides energy for the servo controller and the servo motor by the power supply. The high-power electric servo system is applied to a carrier rocket and is required to have the requirements of high reliability and high response, a load usually has various nonlinear combination characteristics, an equivalent model of the load is difficult to obtain by adopting modes such as simulation modeling and the like, electromagnetic interference under a real operating environment is difficult to estimate, and the performance debugging of the servo system becomes more difficult.
Patent document CN108549239A discloses a method for deriving a stable condition of an electro-hydraulic position servo system, which includes: (1) deducing a relational expression I between the load displacement disturbance quantity and the servo valve core displacement disturbance quantity according to the mathematical model and the model information transfer relation of the electro-hydraulic position servo system; (2) deducing a second relational expression between the displacement disturbance quantity of the valve core of the servo valve and the load displacement disturbance quantity according to a mathematical model of the displacement feedback and control part of the electro-hydraulic position servo system; (3) establishing a transfer block diagram of the disturbance quantity of the position closed-loop system according to the transfer relations respectively deduced from the relation formula I and the relation formula II; (4) judging the absolute stability of the position in closed-loop control by utilizing a Boff frequency criterion; (5) and deducing the absolute stable condition of the electro-hydraulic position servo system according to the Boff's theorem. The equivalent model obtained by simulation modeling and other modes is not suitable for the situation that the high-power electric servo system is applied to the carrier rocket, and obviously, the electromagnetic interference under the real operation environment is not considered. The performance debugging problem of the servo system needs to be solved urgently by applying the high-power electric servo system to the carrier rocket.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a dynamic performance debugging method and system suitable for a servo system.
The dynamic performance debugging method suitable for the servo system provided by the invention comprises the following steps: debugging and confirming the matching of the servo controller and the motor and the correctness of three phases of the motor: connecting a controller with a motor, connecting a servo controller with a simulator, programming a three-phase alternating current output program, and debugging and confirming the matching property of the servo controller and the motor and the correctness of three phases of the motor on line; confirming the correctness and the accuracy of the sensor: compiling a feedback sampling program, debugging on line, reading current feedback sampling data in real time, and confirming the correctness and accuracy of the three-phase current sensor, the rotary encoder and the feedback potentiometer; confirming the matching of the three-phase current and a rotary encoder and the initial angle of the rotary encoder: programming a closed-loop control program of the rotary encoder, giving a specific current in an on-line state, driving a motor to run at a specific speed, and confirming the matching of the three-phase current and the rotary encoder and the initial angle of the rotary encoder; current loop control: a current loop closed-loop program is compiled, a specific current is given in an online debugging state, and a proportional integral PI coefficient of a current loop regulator is modified, so that the motor has a preset current loop operation characteristic; and confirming the correctness of the motor speed calculation program: compiling a motor running speed calculation program, giving a specific current to enable the motor to run at a constant speed in a current loop running state, measuring the rotating speed of the motor by using a velocimeter, comparing the rotating speed with the rotating speed of the motor observed by online debugging, and confirming the correctness of the motor speed calculation program; a speed loop control step: a speed loop closed-loop program is compiled, a specific speed reference value is given in an online debugging state, and a proportional integral PI coefficient of a speed loop regulator is modified, so that the motor has specific speed loop operation characteristics; position loop control: assembling a servo mechanism and a motor, programming a position ring closed-loop program, giving a specific position reference value and modifying a proportional P coefficient of a position ring regulator in an online debugging state to enable the servo system to have specific position ring operation characteristics; the method comprises the following steps of realizing control instruction, parameter binding and telemetering message protocol communication: compiling a parameter binding program and a communication program of an upper computer and a controller to realize control instruction, parameter binding and telemetering message protocol communication; the servo system is provided with a preset dynamic response performance step: binding parameters to a controller through an upper computer, sending a position ring sine scanning signal to a servo system, returning a current ring, a speed ring and a position ring tracking curve through a telemetering message, and adjusting PI coefficients of all rings; the load servo system is provided with a preset dynamic response performance step: the servo system and the load are assembled, a position ring sine scanning signal is sent to the servo system, and the PI coefficient of each ring is adjusted through telemetering messages and returning speed rings and position ring tracking curves.
Preferably, the step of implementing protocol communication such as control instruction, parameter binding and telemetry message includes: and (3) programming a bus communication program: compiling a parameter binding program and a 1553B bus communication program of the upper computer and the controller; the motor is a permanent magnet synchronous motor.
Preferably, the position loop controlling step includes: position loop control substep: the controller obtains a position control instruction through a 1553B bus, a feedback potentiometer obtains the position of the current servo mechanism through AD conversion, the position control instruction and position feedback are subtracted to obtain a position ring error, the position ring error is sent to a position ring regulator, and an output value set by the position ring regulator is used as the input of a speed ring.
Preferably, the speed loop control step includes: speed loop control substep: feedback information of a speed loop is obtained through a differentiator according to the rotation angle of the permanent magnet synchronous motor, and the rotation angle is obtained through a rotary encoder and a decoder which are fixedly connected with a motor shaft; the input of the speed loop is obtained from the output of the position loop, the speed loop error is obtained after the subtraction of the feedback of the speed loop, the speed loop error is sent to the speed loop regulator, and the output value set by the speed loop regulator is used as the input of the first current loop.
Preferably, the current loop control step comprises a current loop control substep, wherein the current loop regulator is divided into a first current loop regulator and a second current loop regulator, the input of the first current loop is from the output of a speed loop, the input of the second current loop is 0, three-phase current of the permanent magnet synchronous motor is converted into three-phase alternating current through C L ARK conversion, the two-phase alternating current and a rotation angle are converted into two-phase direct current through PARK conversion, namely first feedback current and second feedback current, the input of the first current loop is subtracted from the first feedback current to obtain a first current loop error, the first current loop regulator regulates the first current loop output, the input of the second current loop is subtracted from the second feedback current to obtain a second current loop error, the second current loop output is regulated by the second current loop regulator to obtain a second current loop output, the first current loop output, the second current loop output and the rotation angle are inverted to convert two-phase direct current voltage into two-phase alternating voltage, the current loop output and a three-phase synchronous bus voltage signal is provided together with the three-phase synchronous motor driving signal.
Preferably, the permanent magnet synchronous motor is connected with the servo mechanism through a screw pair, and the rotary motion of the permanent magnet synchronous motor is converted into linear motion.
Preferably, the step of debugging and confirming the matching of the servo controller and the motor and the correctness of the three phases of the motor comprises the following steps: the servo controller is connected with the PC through the DSP simulator: connecting the servo controller with a PC through a DSP simulator, and realizing JTAG connection of the PC and the DSP through a CCS interface; and programming a three-phase alternating current output program through the CCS.
The invention provides a dynamic performance debugging system suitable for a servo system, which comprises: the debugging confirms the matching of the servo controller and the motor and the correctness of the three phases of the motor: connecting a controller with a motor, connecting a servo controller with a simulator, programming a three-phase alternating current output program, and debugging and confirming the matching property of the servo controller and the motor and the correctness of three phases of the motor on line; confirm sensor correctness and accuracy module: compiling a feedback sampling program, debugging on line, reading current feedback sampling data in real time, and confirming the correctness and accuracy of the three-phase current sensor, the rotary encoder and the feedback potentiometer; and an initial angle module for confirming the matching of the three-phase current and the rotary encoder: programming a closed-loop control program of the rotary encoder, giving a specific current in an on-line state, driving a motor to run at a specific speed, and confirming the matching of the three-phase current and the rotary encoder and the initial angle of the rotary encoder; a current loop control module: a current loop closed-loop program is compiled, a specific current is given in an online debugging state, and a proportional integral PI coefficient of a current loop regulator is modified, so that the motor has a preset current loop operation characteristic; and a module for confirming the correctness of the motor speed calculation program: compiling a motor running speed calculation program, giving a specific current to enable the motor to run at a constant speed in a current loop running state, measuring the rotating speed of the motor by using a velocimeter, comparing the rotating speed with the rotating speed of the motor observed by online debugging, and confirming the correctness of the motor speed calculation program; a speed loop control module: a speed loop closed-loop program is compiled, a specific speed reference value is given in an online debugging state, and a proportional integral PI coefficient of a speed loop regulator is modified, so that the motor has specific speed loop operation characteristics; a position loop control module: assembling a servo mechanism and a motor, programming a position ring closed-loop program, giving a specific position reference value and modifying a proportion (P) coefficient of a position ring regulator in an online debugging state to enable a servo system to have specific position ring operation characteristics; the control instruction, parameter binding and telemetering message protocol communication module is realized: compiling a parameter binding program and a communication program of an upper computer and a controller to realize control instruction, parameter binding and telemetering message protocol communication; the servo system is provided with a preset dynamic response performance module: binding parameters to a controller through an upper computer, sending a position ring sine scanning signal to a servo system, returning a current ring, a speed ring and a position ring tracking curve through a telemetering message, and adjusting PI coefficients of all rings; enabling the load servo system to have a predetermined dynamic response performance module: the servo system and the load are assembled, a position ring sine scanning signal is sent to the servo system, and the PI coefficient of each ring is adjusted through telemetering messages and returning speed rings and position ring tracking curves.
Preferably, the protocol communication module for realizing control instruction, parameter binding, remote measurement information and the like comprises a bus communication program, a 1553B bus communication program for compiling a parameter binding program and an upper computer and a controller, the motor is a permanent magnet synchronous motor, the position loop control module comprises a position loop control submodule, the controller obtains a position control instruction through a 1553B bus, a feedback potentiometer obtains the position of a current servo mechanism through AD conversion, the position control instruction and position feedback subtract to obtain a position loop error, the position loop error is sent to the position loop regulator, an output value set by the position loop regulator is used as an input of a speed loop, the speed loop control submodule comprises a speed loop control submodule, the speed loop control submodule obtains feedback information of the speed loop through the differentiator through the rotation angle of the permanent magnet synchronous motor, a rotation angle is obtained through a rotary encoder and a decoder fixedly connected with a motor shaft, the input of the speed loop is obtained through the output of the position loop, the speed loop error is obtained through feedback of the speed loop, the speed loop error is sent to the speed loop regulator, the output value set by the speed loop regulator, the speed loop is used as an input of a first current loop, the first current loop regulator, the first current loop is converted into a first current loop output current loop, the first current loop regulator, the first phase current loop regulator is converted into a first phase current loop, the first phase current loop regulator, the first phase current loop is converted into a first phase current loop, the first phase current loop regulator loop, the first phase current loop regulator loop is converted into a first phase current loop, the first phase current loop is converted into a first phase current loop, the first.
Preferably, the permanent magnet synchronous motor is connected with the servo mechanism through a screw pair, and the rotary motion of the permanent magnet synchronous motor is converted into linear motion; the steps of debugging and confirming the matching between the servo controller and the motor and the correctness of the three phases of the motor comprise: the servo controller is connected with the PC through the DSP simulator: connecting the servo controller with a PC through a DSP simulator, and realizing JTAG connection of the PC and the DSP through a CCS interface; and programming a three-phase alternating current output program through the CCS.
Compared with the prior art, the invention has the following beneficial effects:
1. the accuracy of a space vector algorithm, the matching of a controller and a permanent magnet synchronous motor and the output direction and the accuracy of a rotary encoder can be rapidly verified by adopting three-phase current open-loop output;
2. the current loop closed-loop control of the permanent magnet synchronous motor can be rapidly completed by adopting a single current loop operation mode, the feedback sampling precision of the current loop and the stability of the current control of the motor are verified;
3. by adopting a speed loop operation mode, the closed-loop control of the speed loop of the permanent magnet synchronous motor can be quickly completed, the speed resolving precision is verified, and the stability of the speed control of the motor is verified;
4. the position loop operation mode is adopted, so that the closed loop control of the position loop of the servo system can be quickly completed, the sampling precision of the feedback potentiometer is verified, the operation polarity of the position loop of the servo system is verified, and the control stability of the servo system is verified;
5. the PI coefficient and the like can be quickly modified on line by adopting parameter binding;
6. the control instruction and telemetry message mode is adopted to perform frequency sweep test on the servo system, and the parameters to be observed are displayed graphically;
7. the debugging under the loading condition can be carried out under the most real environment, simulation links are reduced, the high-power electromagnetic environment can be enveloped, all parameters of the system are most accurate, and the optimal dynamic performance of the servo system can be obtained at the moment.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic flow chart of the present invention
FIG. 2 is a schematic block diagram of a servo system in an embodiment of the present invention
FIG. 3 is a block diagram of a servo system control algorithm in an embodiment of the present invention
FIG. 4 is a flow chart of debugging a servo system according to an embodiment of the present invention
FIG. 5 is a graph showing the response of the frequency sweep position loop of the servo system in the embodiment of the present invention
FIG. 6 is a frequency sweep velocity loop response curve diagram of the servo system in an embodiment of the present invention
FIG. 7 is a frequency-sweep current loop response curve diagram of the servo system in the embodiment of the present invention
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, and fig. 7, a dynamic performance debugging method for a servo system according to the present invention includes: debugging and confirming the matching of the servo controller and the motor and the correctness of three phases of the motor: connecting a controller with a motor, connecting a servo controller with a simulator, programming a three-phase alternating current output program, and debugging and confirming the matching property of the servo controller and the motor and the correctness of three phases of the motor on line; confirming the correctness and the accuracy of the sensor: compiling a feedback sampling program, debugging on line, reading current feedback sampling data in real time, and confirming the correctness and accuracy of the three-phase current sensor, the rotary encoder and the feedback potentiometer; confirming the matching of the three-phase current and a rotary encoder and the initial angle of the rotary encoder: programming a closed-loop control program of the rotary encoder, giving a specific current in an on-line state, driving a motor to run at a specific speed, and confirming the matching of the three-phase current and the rotary encoder and the initial angle of the rotary encoder; the driving motor runs at a specific speed, namely the driving motor runs at a slow speed;
current loop control: a current loop closed-loop program is compiled, a specific current is given in an online debugging state, and a proportional integral PI coefficient of a current loop regulator is modified, so that the motor has a preset current loop operation characteristic and can stably and normally operate; and confirming the correctness of the motor speed calculation program: compiling a motor running speed calculation program, giving a specific current to enable the motor to run at a constant speed in a current loop running state, measuring the rotating speed of the motor by using a velocimeter, comparing the rotating speed with the rotating speed of the motor observed by online debugging, and confirming the correctness of the motor speed calculation program; a speed loop control step: a speed loop closed-loop program is compiled, a certain speed reference value is given in an online debugging state, and a proportional integral PI coefficient of a speed loop regulator is modified, so that the motor has certain speed loop running characteristics and can run stably and normally; position loop control: assembling a servo mechanism and a motor, programming a position ring closed-loop program, giving a certain position reference value and modifying a proportion (P) coefficient of a position ring regulator in an online debugging state, so that the servo system has certain position ring operation characteristics and can stably and normally operate; the method comprises the following steps of realizing control instruction, parameter binding and telemetering message protocol communication: compiling a parameter binding program and a communication program of an upper computer and a controller to realize control instruction, parameter binding and telemetering message protocol communication; the servo system is provided with a preset dynamic response performance step: binding parameters to a controller through an upper computer, sending a position ring sine scanning signal to a servo system, returning a current ring, a speed ring and a position ring tracking curve through a telemetering message, and adjusting PI coefficients of all rings; the load servo system is provided with a preset dynamic response performance step: the servo system and the load are assembled, a position ring sine scanning signal is sent to the servo system, and the PI coefficient of each ring is adjusted through telemetering messages and returning speed rings and position ring tracking curves. The specific ground current may be an IQ current of one. The dynamic performance debugging method for the high-power electric servo system can reduce test equipment and debugging cost, can quickly measure and improve the dynamic performance of the servo system through debugging the response capability of the current loop, the speed loop and the position loop respectively, and greatly reduces debugging time.
The protocol communication steps for realizing control instruction, parameter binding, telemetering message and the like comprise: and (3) programming a bus communication program: compiling a parameter binding program and a 1553B bus communication program of the upper computer and the controller; the motor is a permanent magnet synchronous motor.
The position loop controlling step includes: position loop control substep: the controller obtains a position control instruction through a 1553B bus, a feedback potentiometer obtains the position of the current servo mechanism through AD conversion, the position control instruction and position feedback are subtracted to obtain a position ring error, the position ring error is sent to a position ring regulator, and an output value set by the position ring regulator is used as the input of a speed ring.
The speed loop control step includes: speed loop control substep: feedback information of a speed loop is obtained through a differentiator according to the rotation angle of the permanent magnet synchronous motor, and the rotation angle is obtained through a rotary encoder and a decoder which are fixedly connected with a motor shaft; the input of the speed loop is obtained from the output of the position loop, the speed loop error is obtained after the subtraction of the feedback of the speed loop, the speed loop error is sent to the speed loop regulator, and the output value set by the speed loop regulator is used as the input of the first current loop.
The current loop control step comprises a current loop control substep, wherein the current loop regulator is divided into a first current loop regulator and a second current loop regulator, the input of the first current loop is from the output of a speed loop, the input of the second current loop is 0, three-phase current of the permanent magnet synchronous motor is converted into two-phase alternating current through C L ARK conversion, the two-phase alternating current and the rotation angle are converted into two-phase direct current through PARK conversion, namely first feedback current and second feedback current, the input of the first current loop is subtracted from the first feedback current to obtain a first current loop error, the first current loop regulator regulates the first current loop output, the input of the second current loop is subtracted from the second feedback current to obtain a second current loop error, the second current loop output is regulated by the second current loop regulator to obtain a second current loop output, the first current loop output and the second current loop output, the two-phase direct current voltage is converted into two-phase alternating voltage through PARK inversion conversion, the current loop output and the current loop output signal and the three-phase synchronous motor driving signal are sent to the three-phase synchronous motor bus.
The permanent magnet synchronous motor is connected with the servo mechanism through the screw rod pair, and the rotary motion of the permanent magnet synchronous motor is converted into linear motion.
The steps of debugging and confirming the matching between the servo controller and the motor and the correctness of the three phases of the motor comprise: the servo controller is connected with the PC through the DSP simulator: connecting the servo controller with a PC through a DSP simulator, and realizing JTAG connection of the PC and the DSP through a CCS interface; and programming a three-phase alternating current output program through the CCS. Specifically, in one embodiment, the controller is connected with the permanent magnet synchronous motor, the controller is connected with the power supply, the servo controller is connected with the PC through the DSP emulator, and JTAG connection between the PC and the DSP is realized through a CCS interface of TI company. And programming a three-phase alternating current output program through the CCS, and debugging and confirming the matching property of the controller and the permanent magnet synchronous motor and the correctness of three phases of the motor on line.
Specifically, in one embodiment, as shown in the schematic block diagram of fig. 2, the servo system includes a controller, a permanent magnet synchronous motor, a servo mechanism, a feedback potentiometer, a rotary encoder, and a power supply, wherein the controller includes a microprocessor, a rotary decoder, a current sensor, a voltage sensor, and a corresponding AD/digital conversion chip. The servo control algorithm and software run in the controller, receive command information from the upper computer, execute the servo system control algorithm to calculate and drive the permanent magnet synchronous motor to rotate, and telemeter and upload specified information to the upper computer.
In order to meet the debugging requirements, a PC device is required to perform early-stage software development of the servo system and function and performance debugging of the servo system. In the later period, the servo system and the load are required to be in butt joint, and the performance debugging of the servo system and the determination of system parameters are carried out in the actual environment so as to achieve the purpose that the performance of the servo system meets the index requirement.
As shown in the control algorithm block diagram of the servo system in FIG. 3, the servo system adopts three closed-loop control algorithms, namely a position loop, a speed loop and a current loop, wherein the current loop is divided into iqCurrent loop and idAnd (4) current loops.
Position loop control process: the controller obtains a position control instruction through a 1553B bus, the current servo mechanism position is obtained through AD conversion by a feedback potentiometer 15, a position loop error is obtained by subtracting the position control instruction from position feedback, the position loop error is sent to the position loop regulator 1, and an output value set by the position loop regulator is used as the input of a speed loop.
Speed loop control process: the feedback information of the speed loop is obtained by the rotation angle of the permanent magnet synchronous motor 14 through the differentiator 9, and the rotation angle is obtained by the rotary encoder 13 and the decoder 12 fixed to the motor shaft. The input of the speed loop is obtained from the output of the position loop, the speed loop error is obtained after the feedback subtraction of the position loop and the speed loop, the speed loop error is sent to the speed loop regulator 2, and the output value set by the speed loop regulator is used as iqInput of the current loop.
Current loop control procedure, current loop regulatorq Current loop regulators 3 and idA current loop regulator 4, wherein iqInput to the current loop comes from the output of the speed loop, idThe input of the current loop is 0, three-phase alternating current of the permanent magnet synchronous motor is converted into two-phase alternating current through C L ARK conversion 11, the two-phase alternating current and the rotation angle theta are converted into two-phase direct current through PARK conversion 10, namely feedback current iqAnd id。iqInput and feedback currents i of the current loopqAre subtracted to obtain iqCurrent loop error, through iqThe current loop regulator 3 obtains i after regulationqCurrent loop output uq。idInput and feedback currents i of the current loopdAre subtracted to obtain idCurrent loop error, through idThe current loop regulator 4 obtains i after regulationdCurrent loop output ud。
iqCurrent loop output uqAnd idCurrent loop output udAnd the rotation angle theta is converted into a two-phase alternating voltage, i.e. an alternating voltage u, by a PARK inverse transformation 5αAnd uβ. The two-phase alternating voltage is calculated by a space vector algorithm 6 to obtain a current output three-phase (full-bridge six-path) voltage output duty ratio signal. The three-phase duty cycle signal is fed to the drive circuit 7 and together with the bus voltage 8 provides the three-phase alternating current required by the permanent magnet synchronous motor 14.
The permanent magnet synchronous motor 14 is connected with the servo mechanism 16 through a screw pair, and converts the rotary motion of the permanent magnet synchronous motor into linear motion, so as to drive the load to move.
The dynamic performance debugging process of the high-power electric servo system is divided into function debugging and performance debugging, and is shown in fig. 4. The debugging process is performed as follows.
The first thing to do is the function debugging:
1. hardware condition preparation: the servo controller is connected with the permanent magnet synchronous motor through a cable, the servo controller is connected with the PC through a DSP simulator in a JTAG mode, the servo controller is powered on, and the CCS is connected with the DSP;
2. and compiling an open-loop and closed-loop operation program of the permanent magnet synchronous motor, namely compiling a permanent magnet synchronous motor control program based on the CCS, wherein the permanent magnet synchronous motor control program comprises a C L ARK conversion algorithm, a PARK conversion algorithm, a speed calculation algorithm, a PARK inverse conversion algorithm, a space vector calculation SVPWM algorithm, a PID (proportion integration differentiation) regulation regulator algorithm and a speed generation algorithm, branching is carried out according to debugging steps, and one item of debugging is not carried out and a branch execution response algorithm is entered.
3. Given speed and fixed duty cycle: and inputting a lower rotating speed reference value to a speed generation algorithm, and outputting a corner sawtooth wave as the current three-phase current space rotating angle. A duty ratio value matched with the period value is input, so that the current three-phase current space rotation vector has an amplitude value matched with the input value.
4. The correctness of the three phases of the controller and the permanent magnet synchronous motor is verified: and adjusting the strong power supply to a lower voltage output, switching on the power supply, and enabling the debugging of the branch algorithm execution program. And adjusting the speed reference value and the duty ratio value to judge whether the response of the permanent magnet synchronous motor is normal or not.
5. Compiling a feedback data acquisition program: the feedback data acquisition is carried out by adopting an AD acquisition chip and an RD (decoder 12) acquisition chip, sampling is started under the full-closed state of a three-phase driving bridge arm according to a given time sequence of the chips, analog-to-digital conversion is executed, and the feedback data jitter is minimum at the moment.
6. And (3) enabling the permanent magnet synchronous motor to operate in an open loop mode: and executing a permanent magnet synchronous motor control algorithm in an open loop state, and executing a feedback data acquisition program.
7. Setting up a CCS online debugging environment, and graphically displaying each variable: and (3) carrying out graphic display on variables to be observed by utilizing the Graph function embedded in the CCS, and verifying the correctness of the rotary encoder and the correctness of current, voltage and feedback sampling.
8. Calibrating a three-phase current zero drift and speed calculation algorithm: because the current sensor has the characteristic of zero drift, the zero drift of the current is calibrated by using the graph display method in the step 7 to participate in subsequent calculation. And meanwhile, the accuracy and precision of the speed calculation algorithm are verified.
9. Current loop closed loop debugging: and modifying the program to enable the machine to work in a current loop closed-loop operation branch, and giving a fixed operation speed to enable the machine to work in a current closed-loop and speed open-loop operation state.
10. Correcting current loop parameters to ensure the current tracking of the motor: the parameters of the PI regulator of the current loop are modified, and the parameters comprise iq current loop parameters and id current loop parameters, so that the input and the output of the current loop of the motor have good tracking characteristics and better current response performance.
11. Closed-loop debugging of a speed loop: the program is modified to work in the closed loop running branch of the speed loop, and different running speeds can be given.
12. Correcting the speed loop parameters to ensure the motor speed tracking: the parameters of the PI regulator of the speed loop are modified, so that the input and the output of the speed loop of the motor have good tracking characteristics and better speed response performance.
13. Assembling the permanent magnet synchronous motor with a servo mechanism and a potentiometer: the permanent magnet synchronous motor is assembled with the servo mechanism, a potentiometer is installed, the potentiometer extends or shortens along with a telescopic rod of the servo mechanism, and a voltage signal is output to perform displacement measurement.
14. Closed-loop debugging of a position ring: the program is modified to work in the closed loop operation branch of the position ring, and different position inputs can be given.
15. Correcting the position loop parameters to ensure the position tracking of the servo mechanism: the PI regulator parameters of the position loop are modified, so that the position loop input and output of the servo mechanism have good tracking characteristics and good position response performance.
16. And correcting three-ring parameters to ensure that the system has certain rigidity: because each loop parameter is independently adjusted in the three-loop debugging process, the three-loop parameter needs to be further corrected, and the whole servo system has certain rigidity and response characteristics.
Then, performance debugging is performed:
17. assembling a servo system and a load: in order to debug the system performance in the truest state, the servo system needs to be in butt joint with the load, and at the moment, the load environment and the electromagnetic environment (especially under the output condition of high power) of the system are truest, so that the system can be debugged quickly and the performance is optimal.
18. Adding a parameter binding program and an upper computer test program: in order to facilitate the modification of the three-loop parameters, a parameter reading and storing program is added in the servo controller software, and meanwhile, a position frequency sweep instruction output program, a parameter binding program, a telemetering data reading and drawing function program are added in an upper computer test program.
19. Carrying out position ring frequency sweeping, and reading telemetering data in real time: and sending a frequency sweeping position instruction to the servo system by using the upper computer in a period of every 1 millisecond, reading telemetering data in real time, and storing the data in a hard disk.
20. Drawing a three-ring sweep frequency response curve: because the instruction of the position loop is a sine curve, the current of the speed loop and the current loop iq are trigonometric function curves, and the input and the output of the three loops are respectively drawn by utilizing the curve drawing function of the upper computer.
21. Adjusting current loop parameters to ensure current loop response tracking: the input and output curves of the current loop are focused, the current loop parameters are bound again, and the current loop output and the current loop input are ensured to be strictly tracked, as shown in fig. 7.
22. Adjusting the parameters of the speed loop to ensure the response tracking of the speed loop: the speed loop parameters are rebinned, focusing on the input and output curves of the speed loop, ensuring that the speed loop output tracks well with the speed loop input, as shown in fig. 6.
23. Adjusting the parameters of the position loop to ensure the response tracking of the position loop: focusing on the input and output curves of the position loop, rebinding the position loop parameters, and ensuring that the position loop output and the position loop input realize tracking, as shown in fig. 5.
24. Gradually increasing the frequency sweep frequency, and correcting three-ring parameters: and after the process of the steps 21-22 is completed, increasing the frequency of the sweep frequency, and executing the steps 21-22 again.
25. And (5) meeting the index requirement, finishing debugging: and (3) gradually increasing the frequency sweep frequency process by 21-24, and repeating for multiple times to ensure that the system parameter is fixed after the position loop response requirement reaches the system requirement index, thereby ending the system debugging process.
Those skilled in the art can understand the dynamic performance debugging method applicable to the servo system provided by the present invention as an embodiment of the dynamic performance debugging system applicable to the servo system provided by the present invention. That is, the dynamic performance debugging system suitable for the servo system may be implemented by executing the step flow of the dynamic performance debugging method suitable for the servo system.
The invention provides a dynamic performance debugging system suitable for a servo system, which comprises: the debugging confirms the matching of the servo controller and the motor and the correctness of the three phases of the motor: connecting a controller with a motor, connecting a servo controller with a simulator, programming a three-phase alternating current output program, and debugging and confirming the matching property of the servo controller and the motor and the correctness of three phases of the motor on line; confirm sensor correctness and accuracy module: compiling a feedback sampling program, debugging on line, reading current feedback sampling data in real time, and confirming the correctness and accuracy of the three-phase current sensor, the rotary encoder and the feedback potentiometer; and an initial angle module for confirming the matching of the three-phase current and the rotary encoder: programming a closed-loop control program of the rotary encoder, giving a specific current in an on-line state, driving a motor to run at a specific speed, and confirming the matching of the three-phase current and the rotary encoder and the initial angle of the rotary encoder; a current loop control module: a current loop closed-loop program is compiled, a specific current is given in an online debugging state, and a proportional integral PI coefficient of a current loop regulator is modified, so that the motor has a preset current loop operation characteristic; and a module for confirming the correctness of the motor speed calculation program: compiling a motor running speed calculation program, giving a specific current to enable the motor to run at a constant speed in a current loop running state, measuring the rotating speed of the motor by using a velocimeter, comparing the rotating speed with the rotating speed of the motor observed by online debugging, and confirming the correctness of the motor speed calculation program; a speed loop control module: a speed loop closed-loop program is compiled, a specific speed reference value is given in an online debugging state, and a proportional integral PI coefficient of a speed loop regulator is modified, so that the motor has specific speed loop operation characteristics; a position loop control module: assembling a servo mechanism and a motor, programming a position ring closed-loop program, giving a specific position reference value and modifying a proportional P coefficient of a position ring regulator in an online debugging state to enable the servo system to have specific position ring operation characteristics; the control instruction, parameter binding and telemetering message protocol communication module is realized: compiling a parameter binding program and a communication program of an upper computer and a controller to realize control instruction, parameter binding and telemetering message protocol communication; the servo system is provided with a preset dynamic response performance module: binding parameters to a controller through an upper computer, sending a position ring sine scanning signal to a servo system, returning a current ring, a speed ring and a position ring tracking curve through a telemetering message, and adjusting PI coefficients of all rings; enabling the load servo system to have a predetermined dynamic response performance module: the servo system and the load are assembled, a position ring sine scanning signal is sent to the servo system, and the PI coefficient of each ring is adjusted through telemetering messages and returning speed rings and position ring tracking curves.
The protocol communication module for realizing control instruction, parameter binding, remote measurement information and the like comprises a bus communication program, a 1553B bus communication program for compiling a parameter binding program and an upper computer and a controller, wherein the motor is a permanent magnet synchronous motor, the position loop control module comprises a position loop control submodule, a controller obtains a position control instruction through the 1553B bus, a feedback potentiometer obtains the position of a current servo mechanism through AD conversion, the position control instruction and position feedback are subtracted to obtain a position loop error, the position loop error is sent to a position loop regulator, an output value set by the position loop regulator is used as the input of a speed loop, the speed loop control submodule comprises a speed loop control submodule, the speed loop control submodule obtains feedback information of the speed loop through a differentiator according to the rotating angle of the permanent magnet synchronous motor, the rotating angle is obtained through a rotary encoder and a decoder fixedly connected with a motor shaft, the input of the speed loop is obtained through the output of the position loop and the feedback subtraction with the speed loop to obtain a speed loop error, the speed loop error is sent to the speed loop regulator, the speed loop error is obtained through the output value obtained through the differentiator, the speed loop regulator, the output current output of the speed loop regulator is converted into a second phase current, the first phase current regulation current is converted into a second phase regulation current, the first phase regulation current, the second phase regulation current is obtained through the first phase regulation loop, the second phase regulation loop, the current is converted into a second phase regulation current, the current is obtained through the first phase regulation current, the second phase regulation current is converted into the first phase regulation current, the second phase regulation current, the current loop, the current is converted into the current, the current is output current, the current is obtained through the second phase regulation current, the current is obtained through the second phase regulation current, the second phase regulation current is obtained through.
The motor is a permanent magnet synchronous motor; the permanent magnet synchronous motor is connected with the servo mechanism through a screw rod pair, and the rotary motion of the permanent magnet synchronous motor is converted into linear motion; the steps of debugging and confirming the matching between the servo controller and the motor and the correctness of the three phases of the motor comprise: the servo controller is connected with the PC through the DSP simulator: connecting the servo controller with a PC through a DSP simulator, and realizing JTAG connection of the PC and the DSP through a CCS interface; and programming a three-phase alternating current output program through the CCS.
The invention adopts three-phase current open loop output to quickly verify the correctness of a space vector algorithm, verify the matching of a controller and a permanent magnet synchronous motor and verify the output direction and precision of a rotary encoder; the current loop closed-loop control of the permanent magnet synchronous motor can be rapidly completed by adopting a single current loop operation mode, the feedback sampling precision of the current loop and the stability of the current control of the motor are verified; by adopting a speed loop operation mode, the closed-loop control of the speed loop of the permanent magnet synchronous motor can be quickly completed, the speed resolving precision is verified, and the stability of the speed control of the motor is verified; the position loop operation mode is adopted, so that the closed loop control of the position loop of the servo system can be quickly completed, the sampling precision of the feedback potentiometer is verified, the operation polarity of the position loop of the servo system is verified, and the control stability of the servo system is verified; the PI coefficient and the like can be quickly modified on line by adopting parameter binding; the control instruction and telemetry message mode is adopted to perform frequency sweep test on the servo system, and the parameters to be observed are displayed graphically; the debugging under the loading condition can be carried out under the most real environment, simulation links are reduced, the high-power electromagnetic environment can be enveloped, all parameters of the system are most accurate, and the optimal dynamic performance of the servo system can be obtained at the moment.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, units provided by the present invention in pure computer readable program code, the system and its various devices, units provided by the present invention can be fully implemented by logically programming the method steps to implement the same functions in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices and units thereof provided by the invention can be regarded as a hardware component, and the devices, units and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, elements for performing the various functions may also be regarded as structures within both software and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A dynamic performance debugging method suitable for a servo system is characterized by comprising the following steps:
debugging and confirming the matching of the servo controller and the motor and the correctness of three phases of the motor: connecting a controller with a motor, connecting a servo controller with a simulator, programming a three-phase alternating current output program, and debugging and confirming the matching property of the servo controller and the motor and the correctness of three phases of the motor on line;
confirming the correctness and the accuracy of the sensor: compiling a feedback sampling program, debugging on line, reading current feedback sampling data in real time, and confirming the correctness and accuracy of the three-phase current sensor, the rotary encoder and the feedback potentiometer;
confirming the matching of the three-phase current and a rotary encoder and the initial angle of the rotary encoder: programming a closed-loop control program of the rotary encoder, giving a specific current in an on-line state, driving a motor to run at a specific speed, and confirming the matching of the three-phase current and the rotary encoder and the initial angle of the rotary encoder;
current loop control: a current loop closed-loop program is compiled, a specific current is given in an online debugging state, and a proportional integral PI coefficient of a current loop regulator is modified, so that the motor has a preset current loop operation characteristic;
and confirming the correctness of the motor speed calculation program: compiling a motor running speed calculation program, giving a specific current to enable the motor to run at a constant speed in a current loop running state, measuring the rotating speed of the motor by using a velocimeter, comparing the rotating speed with the rotating speed of the motor observed by online debugging, and confirming the correctness of the motor speed calculation program;
a speed loop control step: a speed loop closed-loop program is compiled, a specific speed reference value is given in an online debugging state, and a proportional integral PI coefficient of a speed loop regulator is modified, so that the motor has a preset speed loop operation characteristic;
position loop control: assembling a servo mechanism and a motor, programming a position ring closed-loop program, giving a specific position reference value and modifying a proportional P coefficient of a position ring regulator in an online debugging state to enable the servo system to have a preset position ring operation characteristic;
the method comprises the following steps of realizing control instruction, parameter binding and telemetering message protocol communication: compiling a parameter binding program and a communication program of an upper computer and a controller to realize control instruction, parameter binding and telemetering message protocol communication;
the servo system is provided with a preset dynamic response performance step: binding parameters to a controller through an upper computer, sending a position ring sine scanning signal to a servo system, returning a current ring, a speed ring and a position ring tracking curve through a telemetering message, and adjusting PI coefficients of all rings;
the load servo system is provided with a preset dynamic response performance step: the servo system and the load are assembled, a position ring sine scanning signal is sent to the servo system, and the PI coefficient of each ring is adjusted through telemetering messages and returning speed rings and position ring tracking curves.
2. The dynamic performance debugging method for servo system of claim 1, wherein the step of implementing control command, parameter binding and telemetry message protocol communication comprises:
and (3) programming a bus communication program: compiling a parameter binding program and a 1553B bus communication program of the upper computer and the controller;
the motor is a permanent magnet synchronous motor.
3. The dynamic performance tuning method for a servo system according to claim 2, wherein the position loop controlling step comprises:
position loop control substep:
the controller obtains a position control instruction through a 1553B bus, a feedback potentiometer obtains the position of the current servo mechanism through AD conversion, the position control instruction and position feedback are subtracted to obtain a position ring error, the position ring error is sent to a position ring regulator, and an output value set by the position ring regulator is used as the input of a speed ring.
4. The dynamic performance tuning method for a servo system of claim 3, wherein the speed loop control step comprises:
speed loop control substep: feedback information of a speed loop is obtained through a differentiator according to the rotation angle of the permanent magnet synchronous motor, and the rotation angle is obtained through a rotary encoder and a decoder which are fixedly connected with a motor shaft;
the input of the speed loop is obtained from the output of the position loop, the speed loop error is obtained after the subtraction of the feedback of the speed loop, the speed loop error is sent to the speed loop regulator, and the output value set by the speed loop regulator is used as the input of the first current loop.
5. The dynamic performance tuning method for a servo system as claimed in claim 3,
the current loop control step includes:
the three-phase current of the permanent magnet synchronous motor is converted into three-phase alternating current through C L ARK conversion, and the two-phase alternating current and the rotation angle are converted into two-phase direct current through PARK conversion, namely first feedback current and second feedback current;
subtracting the first feedback current from the input of the first current loop to obtain a first current loop error, and adjusting the first current loop error by a first current loop adjuster to obtain a first current loop output;
subtracting the input of the second current loop from the second feedback current to obtain a second current loop error, and adjusting the second current loop error by a second current loop adjuster to obtain a second current loop output;
the first current loop output, the second current loop output and the rotating angle are converted into two-phase alternating voltage through PARK inversion conversion, the two-phase alternating voltage is calculated through a space vector algorithm to obtain a three-phase voltage output duty ratio signal of the current output, and the three-phase duty ratio signal is sent to a driving circuit and provides three-phase alternating current required by the permanent magnet synchronous motor together with the bus voltage.
6. The method of claim 2, wherein the PMSM is connected to the servo mechanism via a screw pair to convert the rotary motion of the PMSM into linear motion.
7. The dynamic performance debugging method for the servo system according to claim 1, wherein the step of debugging and confirming the matching of the servo controller with the motor and the correctness of the three phases of the motor comprises the following steps:
the servo controller is connected with the PC through the DSP simulator: connecting the servo controller with a PC through a DSP simulator, and realizing JTAG connection of the PC and the DSP through a CCS interface; and programming a three-phase alternating current output program through the CCS.
8. A dynamic performance debugging system adapted for use in a servo system, comprising:
the debugging confirms the matching of the servo controller and the motor and the correctness of the three phases of the motor: connecting a controller with a motor, connecting a servo controller with a simulator, programming a three-phase alternating current output program, and debugging and confirming the matching property of the servo controller and the motor and the correctness of three phases of the motor on line;
confirm sensor correctness and accuracy module: compiling a feedback sampling program, debugging on line, reading current feedback sampling data in real time, and confirming the correctness and accuracy of the three-phase current sensor, the rotary encoder and the feedback potentiometer;
and an initial angle module for confirming the matching of the three-phase current and the rotary encoder: programming a closed-loop control program of the rotary encoder, giving a specific first current in an on-line state, driving a motor to run at a specific speed, and confirming the matching of the three-phase current and the rotary encoder and the initial angle of the rotary encoder;
a current loop control module: a current loop closed-loop program is compiled, a specific first current is given in an online debugging state, and a proportional integral PI coefficient of a current loop regulator is modified, so that the motor has a preset current loop operation characteristic;
and a module for confirming the correctness of the motor speed calculation program: programming a motor running speed calculation program, giving a specific first current to enable the motor to run at a constant speed in a current loop running state, measuring the rotating speed of the motor by using a velocimeter, comparing the rotating speed with the rotating speed of the motor observed in online debugging, and confirming the correctness of the motor speed calculation program;
a speed loop control module: a speed loop closed-loop program is compiled, a specific speed reference value is given in an online debugging state, and a proportional integral PI coefficient of a speed loop regulator is modified, so that the motor has a preset speed loop operation characteristic;
a position loop control module: assembling a servo mechanism and a motor, programming a position ring closed-loop program, giving a specific position reference value and modifying a proportional P coefficient of a position ring regulator in an online debugging state to enable the servo system to have a preset position ring operation characteristic;
the control instruction, parameter binding and telemetering message protocol communication module is realized: compiling a parameter binding program and a communication program of an upper computer and a controller to realize control instruction, parameter binding and telemetering message protocol communication;
the servo system is provided with a preset dynamic response performance module: binding parameters to a controller through an upper computer, sending a position ring sine scanning signal to a servo system, returning a current ring, a speed ring and a position ring tracking curve through a telemetering message, and adjusting PI coefficients of all rings;
enabling the load servo system to have a predetermined dynamic response performance module: the servo system and the load are assembled, a position ring sine scanning signal is sent to the servo system, and the PI coefficient of each ring is adjusted through telemetering messages and returning speed rings and position ring tracking curves.
9. The dynamic performance debugging system for servo systems of claim 8, wherein implementing the control command, parameter binding and telemetry message protocol communication module comprises: and (3) programming a bus communication program: compiling a parameter binding program and a 1553B bus communication program of the upper computer and the controller; the motor is a permanent magnet synchronous motor;
the position loop control module includes: a position loop control submodule:
the controller obtains a position control instruction through a 1553B bus, a feedback potentiometer obtains the position of the current servo mechanism through AD conversion, the position control instruction and position feedback are subtracted to obtain a position ring error, the position ring error is sent to a position ring regulator, and an output value set by the position ring regulator is used as the input of a speed ring;
the speed loop control module includes:
a speed loop control submodule: feedback information of a speed loop is obtained through a differentiator according to the rotation angle of the permanent magnet synchronous motor, and the rotation angle is obtained through a rotary encoder and a decoder which are fixedly connected with a motor shaft;
the input of the speed loop is obtained from the output of the position loop, the speed loop error is obtained after the feedback subtraction of the position loop and the speed loop, the speed loop error is sent to the speed loop regulator, and the output value set by the speed loop regulator is used as the input of the first current loop;
the current loop control module includes:
the three-phase current of the permanent magnet synchronous motor is converted into three-phase alternating current through C L ARK conversion, and the two-phase alternating current and the rotation angle are converted into two-phase direct current through PARK conversion, namely first feedback current and second feedback current;
subtracting the first feedback current from the input of the first current loop to obtain a first current loop error, and adjusting the first current loop error by a first current loop adjuster to obtain a first current loop output;
subtracting the input of the second current loop from the second feedback current to obtain a second current loop error, and adjusting the second current loop error by a second current loop adjuster to obtain a second current loop output;
the first current loop output, the second current loop output and the rotating angle are converted into two-phase alternating voltage through PARK inversion conversion, the two-phase alternating voltage is calculated through a space vector algorithm to obtain a three-phase voltage output duty ratio signal of the current output, and the three-phase duty ratio signal is sent to a driving circuit and provides three-phase alternating current required by the permanent magnet synchronous motor together with the bus voltage.
10. The system for debugging dynamic performance of a servo system according to claim 8, wherein the permanent magnet synchronous motor is connected to the servo mechanism through a screw pair to convert the rotational motion of the permanent magnet synchronous motor into a linear motion;
the steps of debugging and confirming the matching between the servo controller and the motor and the correctness of the three phases of the motor comprise:
the servo controller is connected with the PC through the DSP simulator: connecting the servo controller with a PC through a DSP simulator, and realizing JTAG connection of the PC and the DSP through a CCS interface; and programming a three-phase alternating current output program through the CCS.
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| CN112526877B (en) * | 2020-11-06 | 2023-11-14 | 北京精密机电控制设备研究所 | Servo system debugging method and device |
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| CN113467229B (en) * | 2021-07-13 | 2023-07-21 | 南京信息职业技术学院 | Alternating current servo driving method |
| CN113691038B (en) * | 2021-09-15 | 2023-06-06 | 首钢智新迁安电磁材料有限公司 | Motor stator in permanent magnet synchronous motor and design method thereof |
| CN114001056B (en) * | 2021-11-04 | 2023-09-19 | 中国兵器装备集团自动化研究所有限公司 | Hydraulic control system suitable for pressing artillery and control method thereof |
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| CN116760321B (en) * | 2023-08-18 | 2023-11-14 | 中国科学院长春光学精密机械与物理研究所 | Universal motor driving system and parameter debugging method thereof |
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