CN110601624B - Servo control device - Google Patents

Servo control device Download PDF

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CN110601624B
CN110601624B CN201910758548.5A CN201910758548A CN110601624B CN 110601624 B CN110601624 B CN 110601624B CN 201910758548 A CN201910758548 A CN 201910758548A CN 110601624 B CN110601624 B CN 110601624B
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regulator
speed
torque
disturbance
integrator
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CN110601624A (en
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范仁凯
齐丹丹
杨凯峰
姚瑱
钱巍
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Nanjing Estun Automation Co Ltd
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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
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters

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  • Power Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a servo control device, which is additionally provided with a filter and a disturbance observer on the basis of the conventional typical servo control device. The disturbance observer can observe the disturbance in the system, including the variable load torque disturbance and the variable load inertia disturbance, and compensate the disturbance; meanwhile, the speed regulator is used for outputting the observation speed obtained by subtracting the disturbance observer and multiplying KD to regulate the damping of the speed loop; the torque command is filtered using a filter to filter noise in the torque command. The servo control device has simple structure and convenient parameter setting, does not need to accurately identify load torque and inertia, and can quickly adapt to the changing load inertia and load torque.

Description

Servo control device
Technical Field
The invention relates to a servo control technology, in particular to a servo control device.
Background
Nowadays, an alternating current servo system based on a vector control technology and a digital control technology is widely applied to industrial automation, numerical control machine tools, industrial robots and other occasions. The alternating current servo system consists of a servo controller and a servo motor. The servo controller comprises an embedded microprocessor which receives commands of the upper computer and manages and controls electric energy, and the output electric energy is used for driving the servo motor; the servo motor is used as an actuating mechanism to drive the load equipment to realize the functions of tracking, positioning and the like.
Due to various use forms, the alternating current servo system generally supports position, rotating speed and torque control modes. In control, the position ring, the rotating speed ring and the torque ring are nested respectively. These control loops require parameter (usually PI) adjustment to achieve better performance, and load inertia, load torque disturbance and other load device related factors have a greater influence on the performance of the entire servo system. Therefore, when adjusting the parameters, calculation or learning of parameters such as load inertia and load torque is necessary.
In some special cases, the load inertia and the load torque are time-varying. If the moment of inertia of the winding device becomes larger with the increase of the winding material, the moment of inertia of the industrial robot is related to the angle of the mechanical arm; the loads of the bending apparatus and the transfer robot also vary. In these cases, the method of off-line calculation or learning is not applicable, and the fixed parameters (typically PI parameters) often cannot obtain stable control performance.
In response to this problem, researchers have studied a number of ways:
reference 1: patent "a method for automatically tuning speed loop controller parameters of an alternating current servo system", li shihua, etc., Nanjing Ke Yuan drive technology Limited company, grant publication numbers CN104242770, 2017;
reference 2: journal "identification of rotational inertia and self-tuning of regulator parameters for ac servo system", guo yue, etc., proceedings of the university of qing 2012;
reference 3: patent "servo control device", zhangwennong et al, anschuan motor, CN101454969A, 2009;
reference 1 and reference 2 belong to the same category, and both use a model reference adaptive algorithm to identify the system inertia online, and then calculate the controller parameters according to the inertia. The problem is that the convergence speed of the inertia identification algorithm is too low, reaches tens of seconds, and can not meet the requirement of real-time change of load inertia completely; in the method, the accuracy of inertia identification is related to the running state of the servo motor, and if the servo motor runs at a constant speed, the accuracy of inertia identification is poor.
Reference 3 has a good adaptation effect to unknown or varying load inertia using a disturbance observer and a phase lead compensation observer. But the parameter setting is relatively complicated. In addition, if the actual load inertia J is small (close to the minimum value Jm), the phase lead of the rotation speed ω p is much larger than the phase lag of the equivalent low-pass filter Lo, and the high-frequency vibration of the speed is easily caused.
Disclosure of Invention
Referring to fig. 1-4, like components shown in fig. 1-4 are given like reference numerals.
A typical conventional servo control apparatus is shown in fig. 1, and includes a first subtractor 1, a position adjuster 2, a second subtractor 3, a speed adjuster 4, a first integrator 5, and a second integrator 6; the input of the position regulator CP(s) is a given angle gamma calculated by the first subtracter 1*And a feedback angle gammafIs output at a given speed ω*. The function of the position regulator CP(s) is to make the rotation angle gamma of the controlled objectmTracking a given angle minimizes the error, which is typically of the type of P adjuster. The input to the speed regulator Cs(s) being a given speed ω*And the feedback speed omegafIs output as a given torque m*. The function of the speed regulator Cs(s) is to make the running speed omega of the controlled objectmTracking a given speed omega*The error is minimized and is typically of the type of PI regulator. The first integrator 5 and the second integrator 6 are integral models established by the controlled object, and the first integrator 5 is used for outputting the given torque m to the running speed omega of the controlled object through integral operationmThe second integrator 6 is used to integrate the operating speed ωmOutputting the rotation angle gamma of the controlled object by integral operationm。
J in the controlled object*As per unit total moment of inertia, i.e.
Figure BDA0002169558950000021
Wherein, JM is servo motor's inertia, and JL is the inertia of load.
The present invention provides a servo control device, as shown in fig. 2, a filter 10 and a disturbance observer 9 are added on the basis of the conventional typical servo control device. The disturbance observer can observe the disturbance in the system, including the variable load torque disturbance and the variable load inertia disturbance, and compensate the disturbance; while subtracting the observed velocity of the disturbance observer times KD (see fig. 2) from the velocity regulator output to adjust the damping of the velocity loop; the torque command is filtered using a filter to filter noise in the torque command. The servo control device has simple structure and convenient parameter setting, does not need to accurately identify load torque and inertia, and can quickly adapt to the changing load inertia and load torque.
The first technical scheme adopted by the invention is as follows:
a servo control device for performing drive control on a controlled object based on a torque command, comprising:
a first regulator 2 for outputting a given speed based on a deviation between a given angle and a feedback angle;
a second regulator 4 for outputting a given torque based on a deviation between the given speed and a feedback speed;
a disturbance observer 9 for outputting an observed speed and an observed torque disturbance based on a given torque and the feedback speed and/or the feedback angle; compensating the observed torque disturbance into the given torque and using a factor KCAdjusting the size of the compensation amount; at the same time, the observed rotational speed is compensated as a further compensation variable into the setpoint torque, and a factor K is usedDAdjusting the size of the compensation amount;
the filter 10 is used for filtering the given torque compensated by the disturbance observer and inputting the filtered given torque to a controlled object;
a first integrator 5 for outputting the operation speed of the controlled object by integrating the given torque inputted to the controlled object and feeding the operation speed back to the disturbance observer and the second regulator; and
and the second integrator 6 is used for outputting the rotation angle of the controlled object through integration operation of the running speed, and feeding back the rotation angle to the disturbance observer and the first regulator.
The second technical scheme adopted by the invention is an improvement on the first technical scheme, and the second technical scheme adopted by the invention is as follows: referring to fig. 3, the disturbance observer 9 includes: a third regulator 92 for regulating the feedback speed ω based onfWith feedback of observed velocity omegapfIs output to observe the torque disturbance mp(ii) a A first adder 93 for adding the observed torque disturbance mpWith a given torque m*Adding and inputting the data into an ideal model; and a third integrator 94 for outputting the observed speed ω by integrating the given torque inputted to the ideal modelpAnd feeds the observed speed back to the third regulator 92.
The third technical scheme adopted by the invention is an improvement on the first technical scheme, and the third technical scheme adopted by the invention is as follows: referring to fig. 4, the disturbance observer 9 includes: a third regulator 92 for regulating the feedback angle gammafAnd a feedback observation angle gammapfIs output to observe the torque disturbance mp(ii) a A first adder 93 for adding the observed torque disturbance mpWith a given torque m*Adding and inputting the data into an ideal model; a third integrator 94 for outputting the observed speed ω by integrating the given torque inputted to the ideal modelp(ii) a And a fourth integrator 95 for outputting the observation angle γ by integrating the observation speedpAnd feeds the observation angle back to the third regulator 92.
The fourth technical solution adopted by the present invention is an improvement of the second or third technical solution, and the fourth technical solution adopted by the present invention is: the unit value of the total inertia of the ideal model is 1.
The fifth technical scheme adopted by the invention is an improvement on the fourth technical scheme, and the fifth technical scheme adopted by the invention is as follows: the third regulator 92 may be a P regulator, a PI regulator, or a PID regulator.
The sixth technical solution adopted by the present invention is an improvement of the first technical solution, and the sixth technical solution adopted by the present invention is: the first regulator 2 and the second regulator 4 may be P regulators, PI regulators, or PID regulators.
The seventh technical solution adopted by the present invention is an improvement of the first technical solution, and the seventh technical solution adopted by the present invention is: the first integrator 5 establishes an integral model by taking the per-unit total moment of inertia J of a controlled object as a parameter, wherein the controlled object comprises a servo motor and a load machine;
Figure BDA0002169558950000031
wherein, JMIs the moment of inertia of the servo motor, JLIs the moment of inertia of the load.
The invention has the beneficial effects that:
1. the servo control device can adapt to load torque disturbance and load inertia change by using a set of fixed parameters, and has better adaptability to different load inertia and sudden load torque.
2. The servo control device is simple in structure, and only a disturbance observer and a filter are added compared with a typical servo control device.
3. The invention compensates the output of the speed regulator by using the disturbance observed by the disturbance observer; meanwhile, the output of the speed regulator is compensated by using the observation speed of the disturbance observer, so that the damping of a speed loop can be increased, and the low-frequency oscillation caused by the increase of load inertia is reduced.
4. The present invention uses a filter to filter out noise in the torque feed.
5. In the implementation process of the invention, the load moment of inertia and the load torque are not identified, and the convergence problem and the convergence speed problem do not exist.
Drawings
Fig. 1 is a block diagram showing a typical servo control apparatus of the related art.
Fig. 2 is a block diagram showing a servo control apparatus of the present invention.
Fig. 3 is a block diagram showing the configuration of embodiment 1 of the disturbance observer of the servo control device of the present invention.
Fig. 4 is a block diagram showing the configuration of embodiment 2 of the disturbance observer of the servo control device of the present invention.
Fig. 5 is a block diagram showing the configuration of a servo control device according to the first embodiment of the present invention.
Fig. 6 is a graph showing a speed loop step response of a typical conventional servo control apparatus.
Fig. 7 is a velocity loop step response diagram showing the servo control apparatus according to the first embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and fully with reference to the accompanying drawings and preferred embodiments.
Embodiment mode 1
Referring to fig. 5, a servo control apparatus for performing closed-loop control of a speed of a controlled object based on a torque command, the servo control apparatus comprising: a first subtractor 3, a speed regulator 4, a second subtractor 7, a third subtractor 8, a filter 10, a first integrator 5, and a disturbance observer 9. The disturbance observer 9 includes: a fourth subtractor 91, a third regulator 92, a first adder 93, and a third integrator 94.
In this embodiment, the speed regulator 4 is a PI regulator, and the filter 10 is a low-pass filter, whose transfer functions are:
Figure BDA0002169558950000041
and KP is a proportionality coefficient, KI is an integral coefficient, and Tf is a filtering time constant.
In this embodiment, the third adjuster 92 of the disturbance observer is a PI adjuster, and the third integrator 94 establishes an integral model with the total inertia of the ideal model as a parameter, where the unit value of the total inertia of the ideal model is 1.
The operating principle of the servo control device according to the first embodiment is as follows:
the first subtractor 3 operates according to a given speed ω*And feedback velocity omegafCalculating the deviation between the given speed and the feedback speed, and inputting the deviation into the speed regulator 4; the speed regulator 4 outputs a given torque m based on the deviation*And applying said given torque m*Input to the disturbance observer 9; disturbance observer 9 for a given torque m*Performing disturbance compensation, compensatedThe given torque enters a filter 10 to filter noise signals and then is input to a controlled object, and meanwhile, the given torque is input to a disturbance observer 9; the first integrator 5 inputs a given torque m to the controlled object*Outputting the running speed omega of the controlled object by integral operationmAnd using the running speed as the feedback speed omegafTo the disturbance observer 9 and to the speed regulator 4.
The working principle of the disturbance observer 9 is as follows:
the first subtractor 91 performs the feedback control based on the feedback speed ω input to the disturbance observerfAnd feedback of the observed velocity omegapfCalculating a deviation between the feedback speed and the feedback observation speed, and inputting the deviation to the third regulator 92; the third regulator 92 outputs an observed torque disturbance m based on the deviationpAnd using the coefficient K for the observed torque disturbanceCThe compensation quantity is adjusted and then input into a third subtracter 8, and the torque disturbance and the given torque m input into a disturbance observer are observed simultaneouslyfAre input together to the first adder 93; the first adder 93 calculates the observed torque disturbance mpWith a given torque mfAnd inputs the superimposed value to the third integrator 94, and the third integrator 94 outputs the observed speed ω based on the superimposed valuepAnd will observe the velocity ωpCoefficient of use KDAdjusting the compensation quantity and inputting the compensation quantity to a second subtracter 7; the second subtractor 7 calculates a deviation of the given torque output from the speed regulator 4 from the observed speed adjusted using the coefficient KD, and inputs the deviation to the third subtractor 8; the third subtractor 8 calculates a deviation of the deviation from the observed torque disturbance mp adjusted using the coefficient KC, and inputs the deviation to the filter 10.
Other modules with similar disturbance observation functions can achieve the beneficial effects of the invention according to the implementation of fig. 2, so the protection scope of the invention is not limited to the disturbance observer shown in fig. 3 or fig. 4.
Fig. 7 shows a simulation result of a speed loop step response of the servo control device according to the first embodiment of the present invention, in which two curves correspond to different load inertias, and a load torque is applied suddenly at 0.5 second in the simulation.
Fig. 6 shows the simulation result of the step response of the speed loop under the same conditions of the conventional typical servo control device. The comparison shows that:
in the step response process, the existing typical servo control device has poor adaptability to load inertia change, which is particularly represented by large overshoot and long adjustment time; the servo control device has strong adaptability to load inertia change.
In the loading process, the prior typical servo device has poor adaptability to load torque disturbance, which is particularly represented by large rotating speed drop and long recovery time; the servo control device has strong adaptability to load torque disturbance.

Claims (6)

1. A servo control device for performing drive control of a controlled object based on a torque command, comprising:
a first regulator (2) for outputting a given speed based on a deviation between a given angle and a feedback angle;
a second regulator (4) for outputting a given torque based on a deviation between the given speed and a feedback speed;
a disturbance observer (9) for outputting an observed speed and an observed torque disturbance based on a given torque and the feedback speed and/or the feedback angle; compensating the observed torque disturbance into the given torque and adjusting the magnitude of the compensation amount using a coefficient KC; at the same time, compensating the observed speed as another compensation amount into the given torque, and adjusting the magnitude of the compensation amount using a coefficient KD;
the disturbance observer includes:
a third regulator (92) for outputting an observed torque disturbance based on a deviation of the feedback speed from a feedback observed speed;
a first adder (93) for adding the observed torque disturbance and the given torque to be input to a third integrator (94); and
a third integrator (94) for outputting the observed speed by integrating the given torque input to the third integrator (94) and feeding the observed speed back to the third regulator;
the filter (10) is used for filtering the given torque compensated by the disturbance observer and inputting the filtered given torque to the controlled object;
a first integrator (5) for outputting the operation speed of the controlled object by integrating the given torque inputted to the controlled object and feeding the operation speed back to the disturbance observer and the second regulator; and
and the second integrator (6) is used for outputting the rotation angle of the controlled object through integration operation of the running speed, and feeding back the rotation angle to the disturbance observer and the first regulator.
2. The servo control apparatus according to claim 1, wherein the disturbance observer further comprises a fourth integrator (95), the fourth integrator (95) being configured to output an observation angle by integrating the observation speed, and to feed back the observation angle to the third regulator.
3. The servo control apparatus according to claim 1, wherein a unit value of a total inertia of the third integrator (94) is 1.
4. The servo control of claim 1, wherein the third regulator (92) is a P regulator, a PI regulator, or a PID regulator.
5. The servo control device according to claim 1, wherein the first regulator (2) and the second regulator (4) may be a P regulator, a PI regulator, or a PID regulator.
6. The servo control device according to claim 1, wherein the first integrator (5) establishes an integral model using a per-unit total moment of inertia J of a controlled object as a parameter, the controlled object including a servo motor and a load machine;
J*=（JM+JL）/JM
wherein, JMIs the moment of inertia of the servo motor, JLIs the moment of inertia of the load.
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CN113311699B (en) * 2021-05-26 2022-06-14 广东电网有限责任公司 Automatic tracking method for high-frequency noise amplitude gain of high-performance advanced observer
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CN113311708B (en) * 2021-05-26 2022-07-12 广东电网有限责任公司 Method and system for tracking high-frequency noise amplitude gain adjustment control strategy parameters
CN113311755B (en) * 2021-05-26 2022-05-10 广东电网有限责任公司 Automatic tracking improvement method and system for high-frequency noise amplitude gain
CN113296411B (en) * 2021-05-26 2022-06-14 广东电网有限责任公司 Method and system for tracking high-frequency noise power gain adjustment control strategy parameters

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