CN110784151B - Multi-path parallel servo mechanism coordination controller - Google Patents
Multi-path parallel servo mechanism coordination controller Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention provides a multi-path parallel servo mechanism coordination controller, which belongs to the technical field of electromechanical servo control and is characterized by comprising N paths of position coordination controllers, wherein each path of position coordination controller comprises a subtracter, a position controller, a speed instruction amplitude limiter, an error compensation controller and an adder. For the problem that the synchronous precision of the coordination control among a plurality of electromechanical servo mechanisms is difficult to ensure in the dynamic response process, the invention provides a coordination control scheme, which utilizes multi-path position control errors to carry out compensation control, keeps the response processes of all electromechanical servo systems consistent with one path of servo system with the slowest dynamic characteristic, and realizes the high-precision coordination control of the dynamic response processes of the plurality of electromechanical servo systems. The invention has the advantages of simple thought, easy realization, small difficulty in debugging control parameters and no problem of difficult coordination control due to limited control capability.
Description
Technical Field
The invention belongs to the technical field of electromechanical servo control, and relates to a coordination control scheme of a multi-path parallel servo mechanism.
Background
In the distributed control architecture, a plurality of execution mechanisms need to be coordinated to achieve the expected control effect, and also need to be kept consistent in the dynamic response process, otherwise, unexpected control deviation can be generated to influence the system performance. However, in an actual system, due to the uncertainty of external load disturbance, the difference of inertia magnitudes, and the influence caused by a processing error, the response performance of each actuator has a deviation, which brings difficulty to distributed coordination control, and especially, when the actuator has a rate saturation nonlinear problem in a dynamic response process, the coordination control difficulty in the response process is larger. Therefore, the problem of dynamically coordinating control of multiple servos has presented a significant technical challenge.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a coordination control scheme for a multi-way parallel servo mechanism, so as to solve the problem of high-precision coordination control of the multi-way parallel servo mechanism in a dynamic response process.
A multi-path parallel servo mechanism coordination controller is characterized by comprising N paths of position coordination controllers, wherein N is an integer larger than 1, and each path of position coordination controller comprises a subtracter, a position controller, a speed instruction amplitude limiter, an error compensation controller and an adder; the ith path of subtracter realizes the subtraction operation of the position instruction and the ith path of position feedback signal to obtain the ith path of position control error erriAs the input signal of the ith path of the position controller; the location of the ith wayThe controller controls the error err according to the ith path positioniAnd obtaining the output signal of the ith path of position controller through calculation according to the position control law
As the input signal of the ith path of the speed command amplitude limiter; the ith path of speed instruction amplitude limiter obtains an output signal of the ith path of speed instruction amplitude limiter after numerical value amplitude limiting operation
The ith path of input signal of the error compensation controller is N paths of position control errors err1，err2，err3，…，errN(ii) a The ith path of error compensation controller carries out compensation control according to the N paths of position control errors, and an output signal u of the ith path of error compensation controller is obtained through the calculation of the deviation between the ith path of position control error and the path of position control error with the maximum absolute valuei(ii) a The ith path of adder realizes the output signal of the ith path of speed instruction amplitude limiter
And the ith output signal u of the error compensation controlleriTo obtain the output signal of the ith path of the position coordination controller
As an input command of the subsequent controller, i is 1, 2, 3, …, N.
Optionally, the error compensation controller comprises a signal selector, a subtractor and a compensation controller, wherein: the input signal of the ith path of signal selector is N paths of position control errors err1，err2，err3，…，errN(ii) a The ith signal selector selects one signal with the maximum absolute value as an output signal err of the ith signal selector according to the N input signalss(ii) a The ith path of the subtracter is used for realizing the ith path of the position control error signal erriAnd the ith output signal err of the signal selectorsTo obtain the ith path coordination control deviation signal deltaiAs the input signal of the ith path of the compensation controller; the ith path of the compensation controller controls the deviation signal delta according to the ith path of the coordinated controliCalculating the compensation control quantity u by adopting a proportional control mode or a proportional plus integral control modeiAs the output signal u of the i-th path of the error compensation controlleriWherein i is 1, 2, 3, …, N.
Optionally, the integrator in the proportional plus integral control mode adopts a logic integrator, that is: if the input signal Delta of the logic integrator and the output signal u of the logic integratorLIOf opposite sign, i.e. Δ × uLIIf < 0, integral gain K1 is usedI(ii) a Otherwise, the integral gain K2 is adoptedI(ii) a Wherein, K1I＞＞K2I≥0。
The invention can realize the high-precision coordination control of the multi-path parallel servo mechanisms in the dynamic response process by adopting the technical scheme, and the coordination control scheme keeps the dynamic response performance of all the servo mechanisms consistent with that of one path of servo mechanism with the slowest dynamic response, so that the coordination control error which is difficult to compensate and is generated by certain servo mechanisms due to limited self response capability in the compensation control process can be avoided. The invention has no limit on the number of control channels, has small control parameter debugging task amount, and does not influence the overall dynamic response performance of the system while ensuring the coordination control precision.
Drawings
FIG. 1: the invention relates to a block diagram of a coordination control scheme.
FIG. 2: error compensation controller block diagram.
FIG. 3: there is a system response graph for a rate saturation condition.
Detailed Description
The invention is further described with reference to the accompanying drawings and examples, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application.
This implementationFor example, the coordination control under the condition that 3 electromechanical servomechanisms are connected in parallel is taken as an example for introduction, and the 3-way servomechanism has a rate saturation problem and a performance difference in a high dynamic response process, so that a response process under the same position command has a deviation, as shown in fig. 3. The 3-path servo mechanism adopts the same drive controller which comprises 1 control processor, 3-path drive modules and a sensor sampling circuit. The position commands are clocked from the external digital bus to the control processor using Texas Instruments (TI) TMS320F28xxTMThe serial digital signal processing chip internally comprises a timed interrupt source and realizes the position coordination control of the 3-path servo mechanism according to the following steps:
(1) initialization: setting a speed instruction amplitude limit value according to the motor performance of the electromechanical servo mechanism, and setting a system coordination control period TsSetting corresponding control gain parameters;
(2) controlling the processor internal timer interrupt service routine to sample the period TsCollecting position feedback signals of the 3 paths of servo mechanisms, reading the latest position instruction through a data communication bus, and calculating the position control error err of the 3 paths of servo mechanisms according to the latest position instruction and the position feedback signals of the 3 paths of servo mechanisms1，err2，err3；
(3) According to the 1 st path position control law parameter and the 1 st path position control error err1Calculating to obtain output signal of position controller
Limiting value pair according to speed instruction
Carrying out amplitude limiting processing to obtain an output signal of a speed instruction amplitude limiter
(4) Error err control based on 3-way servo position1，err2，err3From which the largest absolute value is selectedThe signal being the output signal err of the signal selectors；
(5) Position control error err with way 1 servomechanism1Subtracting the signal selector output signal errsObtaining a 1 st path coordination control deviation signal delta1；
(6) The 1 st path error compensation controller controls the deviation signal delta according to the 1 st path coordination1And calculating the control parameter to obtain a compensation control quantity u1And the control law can adopt a proportional control mode or a proportional plus integral control mode, if the proportional plus integral control mode is adopted, in order to eliminate the adverse effect of phase lag of the traditional integrator, the logic integrator is adopted, namely: if the input signal of the logic integrator is delta1And the output signal of the logic integrator
Of opposite sign, i.e.
Then the integral gain is adopted
Otherwise, the integral gain is adopted
Wherein the content of the first and second substances,
(7) output signal of 1 st speed instruction amplitude limiter
And the output signal u of the 1 st error compensation controller1Performing addition operation to obtain the output signal of the 1 st path position coordination controller
Namely:
as an input command to the later speed controller;
(8) similarly, the output signals of the position coordination controllers of the 2 nd path servo mechanism and the 3 rd path servo mechanism are calculated according to the steps (3) to (7)
And
and serves as an input command of the corresponding speed controller.
Through the steps, high-precision coordination control of the 3-way servo mechanism in the dynamic response process can be realized. The above-described embodiments of the present invention have been described in detail for the purpose of illustrating the invention, and it should be understood that the invention is not limited to the embodiments, but is intended to cover various modifications, equivalents, improvements, etc. within the spirit and scope of the invention.
Claims (3)
1. A multi-path parallel servo mechanism coordination controller is characterized by comprising N paths of position coordination controllers, wherein N is an integer larger than 1, and each path of position coordination controller comprises a subtracter, a position controller, a speed instruction amplitude limiter, an error compensation controller and an adder; the ith path of subtracter realizes the subtraction operation of the position instruction and the ith path of position feedback signal to obtain the ith path of position control error erriAs the input signal of the ith path of the position controller; the position controller of the ith path controls the error err according to the position of the ith pathiAnd obtaining the output signal of the ith path of position controller through calculation according to the position control law
As the input signal of the ith path of the speed command amplitude limiter; the ith path of the speed instruction amplitude limiter obtains an ith path of the speed instruction amplitude limiter after numerical value amplitude limiting operationOutput signal of speed command limiter
The ith path of input signal of the error compensation controller is N paths of position control errors err1，err2，err3，…，errN(ii) a The ith path of error compensation controller carries out compensation control according to the N paths of position control errors, and an output signal u of the ith path of error compensation controller is obtained through the calculation of the deviation between the ith path of position control error and the path of position control error with the maximum absolute valuei(ii) a The ith path of adder realizes the output signal of the ith path of speed instruction amplitude limiter
And the ith output signal u of the error compensation controlleriTo obtain the output signal of the ith path of the position coordination controller
As an input command of the subsequent controller, i is 1, 2, 3, …, N.
2. The multi-way parallel servo coordinated controller of claim 1, wherein said error compensation controller comprises a signal selector, a subtractor and a compensation controller, wherein: the input signal of the ith path of signal selector is N paths of position control errors err1，err2，err3，…，errN(ii) a The ith signal selector selects one signal with the maximum absolute value as an output signal err of the ith signal selector according to the N input signalss(ii) a The ith path of the subtracter is used for realizing the ith path of the position control error signal erriAnd the ith output signal err of the signal selectorsTo obtain the ith path coordination control deviation signal deltaiAs the input signal of the ith path of the compensation controller; the ith path of the compensation controllerIth path coordination control deviation signal deltaiCalculating the compensation control quantity u by adopting a proportional control mode or a proportional plus integral control modeiAs the output signal u of the i-th path of the error compensation controlleriWherein i is 1, 2, 3, …, N.
3. The multi-channel parallel servo coordinated controller of claim 2, wherein the proportional plus integral control mode is characterized in that the integrator is a logic integrator, namely: if the input signal Delta of the logic integrator and the output signal u of the logic integratorLIOf opposite sign, i.e. Δ × uLIIf < 0, integral gain K1 is usedI(ii) a Otherwise, the integral gain K2 is adoptedI(ii) a Wherein, K1I＞＞K2I≥0。
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