CN110855212A - Vibration suppression method and device for motor control device - Google Patents
Vibration suppression method and device for motor control device Download PDFInfo
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- CN110855212A CN110855212A CN201911046885.8A CN201911046885A CN110855212A CN 110855212 A CN110855212 A CN 110855212A CN 201911046885 A CN201911046885 A CN 201911046885A CN 110855212 A CN110855212 A CN 110855212A
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- motor
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- feedback speed
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
Abstract
A vibration suppression method of a motor control device, comprising: a. predicting the speed increment X1 of the current control period of the motor control device according to the current given torque and the total inertia of the servo motor; b. calculating a speed difference value U1 between the motor feedback speed and the motor predicted speed of the previous control period: c. calculating the component X2 of the speed difference value U1 in the current control period: d. calculating the motor predicted speed of the current control period: e. carrying out high-pass filtering on the speed difference U1 to obtain U2; f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value; g. and subtracting the motor feedback speed compensation value from the motor feedback speed to obtain a motor feedback speed correction value, and controlling the motor by using the motor feedback speed correction value. The invention also provides a motor control device. The invention can realize the vibration damping control of the motor on the premise of ensuring the full-frequency operation and high response speed of the motor.
Description
Technical Field
The present invention relates to a motor control technique, and more particularly to a vibration suppression technique for a motor control device.
Background
With the development of automation control, the use of automation equipment is higher and higher. In some cases, due to problems in installation, design, rigidity and the like of the equipment, the natural frequency of the equipment is close to the operating frequency range of the motor, so that noise is generated during operation or the motor and the equipment resonate, and the normal operation of the equipment is influenced. In order to reduce the resonance phenomenon generated in the motor control process and improve the running performance of the equipment, a motor control device is required to suppress vibration.
In the prior art, the following methods are used to reduce resonance:
1. parameters such as servo gain proportion and rigidity are reduced, vibration amplitude of a servo is weakened, and resonance of equipment is reduced, the method can cause slow response of servo control, so that efficiency is reduced, and servo high-precision high-response control cannot be realized;
2. the method comprises the steps of finding out vibration frequency, setting a frequency vibration point, avoiding the frequency, and avoiding the equipment driven by a motor from running under the frequency, wherein the method can cause that the equipment cannot run on occasions needing the frequency running, and can only run under the frequency far away from the frequency point, so that the running of the full-frequency point cannot be realized;
3. a notch filter is set to reduce the vibration amplitude at this frequency point and reduce resonance. This method causes a delay in torque response in servo control, resulting in failure to achieve high-response control.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a vibration suppression method for a motor control device, which can realize vibration reduction control of a motor on the premise of ensuring full-frequency operation and high response speed of the motor.
Another object of the present invention is to provide a motor control device.
According to an aspect of the present invention, there is provided a vibration suppressing method of a motor control apparatus, including the steps of:
a. predicting the speed increment X1 of the current control period of the motor control device according to the current given torque Tref and the total inertia J of the servo motor:
wherein Ts is the control period of the motor control device;
b. calculating a speed difference value U1 between the motor feedback speed Vfbk of the current control period and the motor predicted speed Vobs' of the previous control period:
U1＝Vfbk-Vobs′
c. calculating the component X2 of the speed difference value U1 in the current control period:
wherein f is the fluctuation frequency of the feedback speed of the motor;
d. calculating the motor predicted speed of the current control period:
Vobs＝Vobs′+X1+X2
e. carrying out high-pass filtering on the speed difference U1 to obtain U2, wherein the cut-off frequency of the high-pass filtering is f;
f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value Vcomp, wherein the cut-off frequency of the low-pass filtering is f;
g. and subtracting the motor feedback speed compensation value Vcomp from the motor feedback speed Vfbk to obtain a motor feedback speed correction value Vfbk ', and controlling the motor by using the motor feedback speed correction value Vfbk'.
According to another aspect of the present invention, there is provided a motor control device including: a memory for storing a program; a processor for loading the program to perform the aforementioned vibration suppression method.
The embodiment of the invention corrects the feedback speed of the motor, controls the operation of the motor by using the corrected feedback speed of the motor, and eliminates the speed fluctuation amplitude caused by the vibration of the motor by the corrected feedback speed of the motor, thereby realizing the vibration suppression. The servo gain proportion and the rigidity are improved while the vibration is restrained, the full-frequency-band operation of the motor can be realized, and the response delay does not exist, so that the applicability and the control performance of the motor are improved.
Drawings
Fig. 1 is a flowchart illustrating a vibration suppressing method of a motor control apparatus according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Please refer to fig. 1. A vibration suppressing method of a motor control apparatus according to an embodiment of the present invention includes the steps of:
a. when the motor is controlled, predicting a speed increment X1 of a current control period of the motor control device according to a current given torque Tref and the total inertia J of the servo motor:
wherein Ts is the control period of the motor control device; the total inertia J of the motor is the sum of the inertia of the motor and the load inertia of a load driven by the motor;
b. calculating a speed difference value U1 between the motor feedback speed Vfbk of the current control period and the motor predicted speed Vobs' of the previous control period:
U1＝Vfbk-Vobs′
the motor feedback speed Vfbk may be obtained by detecting the spatial position of the rotor by a position detection sensor such as an encoder and then calculating, or may be obtained by directly detecting the rotational speed of the rotor by a speed detection device, and the size of the control period is equal to the size of the sampling period in which the motor control device samples the detection result of the speed detection device;
c. calculating the component X2 of the speed difference value U1 in the current control period:
wherein f is the fluctuation frequency of the feedback speed of the motor, and is caused by the resonance of the motor and equipment; the fluctuation frequency of the feedback speed of the motor can be obtained by a waveform analysis method, which is the prior art and is not described herein again. The vibration period of the motor is longer than the control period of the motor control device, and the purpose of the step c is to obtain the component of the speed difference value caused by the vibration of the motor in the current control period for subsequent compensation so as to avoid the unstable operation of the motor caused by excessive compensation at one time;
d. calculating the motor predicted speed of the current control period:
Vobs＝Vobs′+X1+X2
the calculated Vobs is used for the operation of the next control period, namely the calculated Vobs is used as the motor predicted speed Vobs' of the previous control period in the operation of the next control period, and if the calculated Vobs is the first control period, the motor predicted speed value of the previous control period is zero;
e. carrying out high-pass filtering on the speed difference value U1 to obtain U2, wherein the cut-off frequency of the high-pass filtering is the fluctuation frequency f of the feedback speed of the motor so as to filter out high-frequency components;
f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value Vcomp, wherein the cut-off frequency of the low-pass filtering is the fluctuation frequency of the motor feedback speed to filter out low-frequency components, and the motor feedback speed compensation value Vcomp obtained after the low-pass filtering can be regarded as a speed fluctuation amplitude generated by motor vibration;
g. and subtracting the motor feedback speed compensation value Vcomp from the motor feedback speed Vfbk to obtain a motor feedback speed correction value Vfbk ', namely, Vfbk ' is Vfbk-Vcomp, and carrying out motor control by using the motor feedback speed correction value Vfbk '.
When the motor control device controls the operation of the motor, the above-described steps a to g are cyclically executed.
It should be noted that the division of the method steps is for clarity of description, and should not be construed as limiting the order of execution of the method. For example, the step d is not limited to be performed before the step e, and may be performed after the step e, and the speed difference U1 may be subjected to low-pass filtering and then high-pass filtering to obtain the motor feedback speed compensation value Vcomp.
Optionally, the high-pass filtering in step e is first-order high-pass filtering, and the low-pass filtering in step f is first-order low-pass filtering. The motor is a servo motor, the motor control device is a controller of a servo driver or a controller of a frequency converter, and the controller can be a single chip microcomputer, a DSP and the like.
In the step g, the performing of the motor control by using the motor feedback speed correction value Vfbk 'includes performing a speed loop control by using the motor feedback speed correction value Vfbk', where the speed loop control is performed by, for example, PI adjusting a difference between the motor set speed and the motor feedback speed correction value Vfbk 'so that the motor feedback speed correction value Vfbk' and the motor set speed tend to be consistent. Specific ways of motor control include, but are not limited to, vector control, direct torque control, and the like.
There is also provided in accordance with yet another embodiment of the present invention a motor control apparatus including a memory and a processor. The memory is used for storing programs; the processor is used for loading the program to execute the vibration suppression method.
The embodiment of the invention corrects the feedback speed of the motor, controls the operation of the motor by using the corrected feedback speed of the motor, and eliminates the speed fluctuation amplitude caused by the vibration of the motor by the corrected feedback speed of the motor, thereby realizing the vibration suppression. The servo gain proportion and the rigidity are improved while the vibration is restrained, the full-frequency-band operation of the motor can be realized, and the response delay does not exist, so that the applicability and the control performance of the motor are improved.
The foregoing description is further illustrative of the present invention with reference to the following detailed description and accompanying drawings. It will be apparent, however, to one skilled in the art that the present invention may be practiced in many other ways than those specifically set forth herein, and that these variations may be performed in many different ways without departing from the spirit and scope of the present invention.
Claims (5)
1. A vibration suppressing method of a motor control device, characterized by comprising the steps of:
a. predicting the speed increment X1 of the current control period of the motor control device according to the current given torque Tref and the total inertia J of the servo motor:
wherein Ts is the control period of the motor control device;
b. calculating a speed difference value U1 between the motor feedback speed Vfbk of the current control period and the motor predicted speed Vobs' of the previous control period:
U1＝Vfbk-Vobs′
c. calculating the component X2 of the speed difference value U1 in the current control period:
wherein f is the fluctuation frequency of the feedback speed of the motor;
d. calculating the motor predicted speed of the current control period:
Vobs＝Vobs′+X1+X2
e. carrying out high-pass filtering on the speed difference U1 to obtain U2, wherein the cut-off frequency of the high-pass filtering is f;
f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value Vcomp, wherein the cut-off frequency of the low-pass filtering is f;
g. and subtracting the motor feedback speed compensation value Vcomp from the motor feedback speed Vfbk to obtain a motor feedback speed correction value Vfbk ', and controlling the motor by using the motor feedback speed correction value Vfbk'.
2. The vibration suppressing method of a motor control apparatus according to claim 1, wherein the fluctuation frequency f of the motor feedback speed is obtained by a method of waveform analysis.
3. The vibration suppressing method of a motor control device according to claim 2, wherein the motor control device is a controller of a servo driver or a controller of a frequency converter.
4. The vibration suppressing method of a motor control apparatus according to claim 1, wherein in said step g, performing motor control using a motor feedback speed correction value Vfbk 'includes performing speed loop control using said motor feedback speed correction value Vfbk'.
5. A motor control apparatus, comprising:
a memory for storing a program;
a processor for loading the program to perform the vibration suppression method as claimed in claim 1.
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| CN201911046885.8A CN110855212B (en) | 2019-10-30 | 2019-10-30 | Vibration suppression method and device for motor control device |
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| CN201911046885.8A CN110855212B (en) | 2019-10-30 | 2019-10-30 | Vibration suppression method and device for motor control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847352A (en) * | 2020-12-31 | 2021-05-28 | 上海新时达机器人有限公司 | Robot control method, resistance device, and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015063842A1 (en) * | 2013-10-28 | 2015-05-07 | 株式会社安川電機 | Motor control device |
| CN105375850A (en) * | 2015-12-24 | 2016-03-02 | 南京埃斯顿自动控制技术有限公司 | Control method for motor vibration suppression |
| CN105429540A (en) * | 2015-12-08 | 2016-03-23 | 南京埃斯顿自动控制技术有限公司 | Model following control-based vibration suppression method for alternating current servo motor |
| CN110138304A (en) * | 2019-04-24 | 2019-08-16 | 浙江吉利控股集团有限公司 | A kind of electric drive system stabilization control method, device and vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015063842A1 (en) * | 2013-10-28 | 2015-05-07 | 株式会社安川電機 | Motor control device |
| CN105429540A (en) * | 2015-12-08 | 2016-03-23 | 南京埃斯顿自动控制技术有限公司 | Model following control-based vibration suppression method for alternating current servo motor |
| CN105375850A (en) * | 2015-12-24 | 2016-03-02 | 南京埃斯顿自动控制技术有限公司 | Control method for motor vibration suppression |
| CN110138304A (en) * | 2019-04-24 | 2019-08-16 | 浙江吉利控股集团有限公司 | A kind of electric drive system stabilization control method, device and vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847352A (en) * | 2020-12-31 | 2021-05-28 | 上海新时达机器人有限公司 | Robot control method, resistance device, and storage medium |
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