CN111245332B - Motor speed control method and control system - Google Patents
Motor speed control method and control system Download PDFInfo
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- CN111245332B CN111245332B CN202010056254.0A CN202010056254A CN111245332B CN 111245332 B CN111245332 B CN 111245332B CN 202010056254 A CN202010056254 A CN 202010056254A CN 111245332 B CN111245332 B CN 111245332B
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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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/20—Controlling the acceleration or deceleration
Abstract
The invention provides a speed control method and a speed control system of a motor, which adopt an asymmetric S-shaped speed curve, and the speed control method comprises the following steps: in the acceleration stage of the motor, calculating and determining an acceleration curve equation according to a preset parabolic curve equation, and controlling the motor to operate in an accelerated manner by using the acceleration curve equation; in the motor constant speed stage, controlling the motor to run at a constant speed according to the speed corresponding to the acceleration termination moment in the acceleration stage; in the motor deceleration stage, a preset S-shaped speed curve with constant jerk is adopted, and the motor is controlled to operate in a deceleration mode by the S-shaped speed curve with constant jerk. According to the invention, the acceleration curve of the parabola with the power of 2 with the downward opening is designed, so that the motor torque meets the load torque requirement in the acceleration stage, the running stroke of the motor is greatly improved in the same acceleration time, and the acceleration efficiency is further improved.
Description
Technical Field
The invention belongs to the technical field of motion control, and particularly relates to a motor speed control method and a motor speed control system.
Background
In the motion control of machinery, the motor and the machinery often cannot be directly started and stopped at high speed, so a reasonable acceleration and deceleration curve needs to be designed, and the starting process and the stopping process are rapid and smooth. In particular, during acceleration and deceleration, it is desirable that the shorter the acceleration and deceleration time is, the better the operation of the controlled motor is, and the better the control algorithm is, and that the control algorithm is implementable in a microprocessor-based digital control. At present, common acceleration and deceleration curves include a trapezoidal acceleration and deceleration curve and a symmetric S-shaped acceleration and deceleration curve, wherein the trapezoidal acceleration and deceleration curve refers to acceleration and deceleration from a starting speed to a target speed, and the acceleration and deceleration is performed in a linear manner in a certain proportion in a motion process. The speed change of the symmetrical S-shaped speed curve in the acceleration and deceleration starting stages is relatively slow and then gradually accelerated. The rate of change of speed slows down again towards the end of the acceleration and deceleration, making the whole movement more stable. The symmetric S-shaped acceleration and deceleration curves are mainly realized by a sine curve, a 2-power parabolic curve and a 3-power curve. The speed control methods of the trapezoidal speed curve and the S-shaped speed curve have the characteristics, and in practical application, an algorithm which is easy to realize, good in smoothness and high in efficiency is usually selected as an acceleration and deceleration control strategy in the motion control process.
The trapezoidal speed curve is a constant acceleration process, the rapidity is good, the calculation process is simple, and the application in the field of industrial control is very wide. The complete trapezoidal speed curve consists of three stages of uniform acceleration, uniform speed and uniform deceleration, and the acceleration is kept constant all the time in the speed change process. However, the acceleration of the trapezoidal speed curve has obvious step abrupt changes at the starting time and the ending time of acceleration and deceleration, which can cause the overshoot of the motor and the impact on the equipment, and seriously affect the performance and the service life of the whole machine. Because the performance of the existing motor driving element can not achieve ideal dynamic response, the starting and stopping speed trajectory of the equipment is not an ideal oblique line in the actual use process, and obvious fluctuation exists, which is mainly represented by delay in starting and overshoot when reaching a constant speed.
Secondly, the speed and the acceleration of the current symmetrical S-shaped speed curve are a continuous change process, so the stability of mechanical motion is better, and the vibration and the noise can be controlled at a lower level. Specifically, when the velocity profile is composed of a sinusoidal curve, the acceleration profile is also a continuous sinusoidal curve; when the speed curve is a 2-power or 3-power curve, the acceleration curve is a 1-power or 2-power continuous curve. The complete sigmoid curve is composed of seven stages, which specifically include: the running time of the seven stages can take different values, namely the acceleration curve and the deceleration curve are not symmetrical and equal, and different curves can be adopted respectively, so that the power dissipation under many conditions is obtained. The S-shaped speed curve has better flexibility, overcomes the unfavorable condition of acceleration sudden change in the trapezoidal speed curve, and greatly reduces the impact on machinery. However, some special equipment or occasions, such as a high-speed packaging machine and a high-speed bag making machine, have high requirements on processing efficiency in the same time and stopping stability in a high-speed operation state. The common S-shaped speed curve has smooth acceleration and deceleration stages, and can meet the requirement of stable shutdown in a high-speed running state; however, in the acceleration and deceleration stages of the S-shaped curve, the speed response is not fast enough, so that the relative stroke of the motor running in the same time is not high, or the time required for the motor to move for the same distance is longer at the same expected speed, thereby the processing speed and efficiency of the equipment are not required.
Therefore, in order to solve the problems of insufficient speed response and low acceleration efficiency in the acceleration stage of the common S-shaped curve, it is necessary to develop a speed curve to improve the processing speed and efficiency of the equipment without affecting the stability of high-speed shutdown.
Disclosure of Invention
The present invention is directed to solve at least one of the problems of the prior art, and provides a method and a system for controlling the speed of a motor.
In a first aspect of the present invention, a speed control method for a motor is provided, where an asymmetric S-shaped speed curve is adopted, and the speed control method specifically includes:
in the acceleration stage of the motor, calculating and determining an acceleration curve equation according to a preset parabolic curve equation, and controlling the motor to operate in an accelerated mode according to the acceleration curve equation;
in the constant speed stage of the motor, controlling the motor to run at a constant speed according to the speed corresponding to the acceleration ending moment in the acceleration stage;
and in the deceleration stage of the motor, adopting a preset S-shaped speed curve with constant acceleration and controlling the motor to decelerate by using the S-shaped speed curve with constant acceleration.
Optionally, the calculating and determining an acceleration curve equation according to a preset parabolic curve equation includes:
Respectively setting an acceleration initial speed corresponding to the acceleration starting time and an acceleration terminal speed corresponding to the acceleration terminal time;
and calculating and determining the acceleration curve according to the acceleration initial speed, the acceleration end speed and the parabolic curve equation.
Optionally, the setting of the initial acceleration speed corresponding to the acceleration start time and the final acceleration speed corresponding to the final acceleration time respectively further includes:
setting the acceleration corresponding to the acceleration terminal point moment to be zero;
the calculating and determining the acceleration curve according to the acceleration initial speed, the acceleration end speed and the parabolic curve equation comprises:
and calculating and determining the acceleration curve according to the acceleration initial speed, the acceleration end point speed, the acceleration at the acceleration end point moment and the parabolic curve equation.
Optionally, the acceleration curve equation satisfies the following relation:
in the formula, v represents the speed corresponding to any time t in the acceleration stage;
vs represents the initial acceleration initial speed of the acceleration stage;
v1 represents the acceleration end velocity of the acceleration phase;
ta represents the acceleration time of the acceleration phase.
Optionally, the S-shaped speed curve with constant jerk includes a speed curve in an acceleration/deceleration stage, a speed curve in a uniform deceleration stage, and a speed curve in a deceleration stage; in the deceleration stage of the motor, a preset S-shaped speed curve with constant jerk is adopted, and the motor is controlled to operate in a deceleration mode by the S-shaped speed curve with constant jerk, including:
In the acceleration and deceleration stage, an acceleration and deceleration curve equation is obtained by calculating the acceleration value in a way of increasing according to a linear rule, and the acceleration and deceleration curve equation is used for controlling the motor to operate at an accelerated speed and a decelerated speed;
a uniform deceleration stage, controlling the uniform deceleration operation of the motor by a corresponding uniform deceleration curve equation with constant acceleration at the end of the acceleration and deceleration stage;
and in the speed reduction and deceleration stage, a speed reduction and deceleration curve equation is calculated by adopting a mode that the acceleration value is reduced according to a linear rule, and the speed reduction and deceleration operation of the motor is controlled by the speed reduction and deceleration curve equation.
Optionally, the acceleration and deceleration curve equation satisfies the following relational expression:
in the formula, v represents the speed corresponding to any time t in the acceleration and deceleration stage;
jd represents the acceleration rate of the acceleration and deceleration stage;
td1 represents the run time of the acceleration and deceleration phase.
Optionally, the uniform deceleration curve equation satisfies the following relation:
in the formula, v represents the speed corresponding to any time t in the uniform deceleration stage;
jd represents the acceleration rate of the acceleration and deceleration stage;
td2 represents the run time of the ramp-down phase.
The deceleration curve equation satisfies the following relational expression:
in the formula, v represents the speed corresponding to any time t in the deceleration stage;
Jd represents jerk during the deceleration phase;
td3 represents the run time of the deceleration phase.
Optionally, the method further includes calculating an acceleration stroke of the acceleration stage according to the acceleration curve equation;
calculating the deceleration stroke of the deceleration stage according to the S-shaped speed curve with constant acceleration;
acquiring the total stroke of the motor, and judging whether the motor has a constant speed stage according to the relationship between the total stroke and the acceleration stroke and the deceleration stroke, wherein the steps are as follows:
when the total stroke is larger than the sum of the acceleration stroke and the deceleration stroke, judging that the motor has a constant speed stage;
and when the total stroke is not greater than the sum of the acceleration stroke and the deceleration stroke, judging that the motor does not have a constant speed stage.
Optionally, after determining that the constant speed stage does not exist in the motor, the method further includes:
acquiring the actual maximum speed of the motor in the whole operation stage;
and respectively correcting the acceleration curve equation and the S-shaped curve equation with constant jerk according to the actual maximum speed.
In a second aspect of the present invention, there is provided a speed control system for an electric machine, the system employing an asymmetric S-shaped speed profile control system, the system comprising: the device comprises an acceleration control module, a constant speed control module and a deceleration control module; wherein the content of the first and second substances,
The acceleration control module is used for calculating and determining an acceleration curve equation according to a preset parabolic curve equation at the acceleration stage of the motor and controlling the motor to run in an accelerated manner according to the acceleration curve equation;
the constant speed control module is used for controlling the motor to run at a constant speed according to the speed corresponding to the acceleration ending moment of the acceleration stage in the constant speed stage of the motor;
and the deceleration control module is used for adopting a preset S-shaped speed curve with constant acceleration in the deceleration stage of the motor and controlling the motor to operate in a deceleration mode according to the S-shaped speed curve with constant acceleration.
According to the motor speed control method and the motor speed control system, the acceleration curve of the parabola with the power of 2 with the downward opening is designed, so that the motor torque meets the load torque requirement in the acceleration stage, the running stroke of the motor is greatly improved within the same acceleration time, and the acceleration efficiency is further improved. Secondly, an S-shaped speed curve with constant acceleration is adopted in the deceleration stage, and a deceleration curve with adjustable smoothness in the deceleration process is designed according to the law that the acceleration is constant and the acceleration changes linearly in a one-time direction and with the smallest calculated amount, so that the requirement of rapid and stable shutdown in a high-speed operation state is met. Meanwhile, the motor acceleration control method provided by the invention automatically carries out reasonable trajectory planning on the whole motion process according to the maximum speed, acceleration and deceleration time and the total travel of the preset requirements, so that the connection among all motion stages is smooth and has no impact. The motor speed control method and the motor speed control system provided by the invention solve the problems of insufficient speed response and low acceleration efficiency in the acceleration stage of the common S-shaped curve, improve the processing speed and efficiency of equipment on the premise of not influencing the stability of high-speed shutdown, and enlarge the application range of the S-shaped speed curve in high-speed processing equipment.
Drawings
Fig. 1 is a schematic flow chart of a speed control method for an electric motor according to a first embodiment of the present invention;
fig. 2 is a general speed curve diagram of a motor according to a first embodiment of the present invention;
fig. 3 is a general diagram illustrating an actual speed curve of the motor according to the first embodiment of the present invention;
fig. 4 is a block diagram schematically showing the components of a speed control system of a motor according to a second embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and fig. 2, in a first aspect of the present invention, a speed control method for a motor is provided, where an asymmetric S-shaped speed curve is adopted, and the speed control method specifically includes: and in the acceleration stage of the motor, calculating and determining an acceleration curve equation according to a preset parabolic curve equation, and controlling the motor to run in an accelerated mode by using the acceleration curve equation. And in the constant speed stage of the motor, controlling the motor to run at a constant speed according to the speed corresponding to the acceleration ending moment in the acceleration stage. And in the deceleration stage of the motor, adopting a preset S-shaped speed curve with constant jerk, and controlling the motor to decelerate by using the S-shaped speed curve with constant jerk.
In addition, in the deceleration stage, according to the constant acceleration, a deceleration curve with adjustable smoothness in the deceleration process is designed according to the constant acceleration, so that the requirement of quick and stable shutdown in a high-speed running state is met, and the problems of insufficient speed response and low acceleration efficiency in the conventional S-shaped curve acceleration stage are solved.
Specifically, as shown in fig. 1 and fig. 2, the speed curve of the complete phase of the present invention is composed of three partial curves of acceleration, constant speed and deceleration, and first, parameters of three operation phases are set, specifically, ta is an acceleration phase operation time, tv is a constant speed phase operation time, td is an acceleration phase operation time, vs is an initial speed of the whole operation phase, that is, vs is an acceleration initial speed corresponding to an acceleration start time of the acceleration phase, ve is an end speed of the whole operation phase, v1 is a set maximum operation speed, that is, an acceleration end speed corresponding to an acceleration end time of v1, where the initial speed vs and the end speed ve of the whole operation stroke are not necessarily 0. In addition, assuming that the total stroke of the whole operation stage is S, the acceleration stage is from 0 to ta, the speed is accelerated from vs to v1, and assuming that the stroke of the acceleration stage is Sa; from ta to tv in the constant speed stage, keeping the maximum speed v1 constant at the constant speed running speed, and assuming that the travel of the constant speed stage is Sv; the deceleration phase is from tv to td, the speed is decelerated from v1 to ve, and the travel of the deceleration phase is assumed to be Sd.
Specifically, in the acceleration stage of the motor, an acceleration curve equation is calculated and determined according to a preset parabolic curve equation, wherein the preset parabolic curve is a 2-power parabolic curve with a downward opening, and the assumed curve equation is as follows:
v＝at2+bt+c；
two known conditions according to the above assumption, i.e., the velocity (0, vs) at the acceleration start time and the velocity (0, v1) at the acceleration end time. In addition, in the embodiment, at the transition time from the acceleration stage to the uniform speed stage, in order to make the operation of the motor more stable and reduce the impact on the mechanical equipment to the maximum extent, the acceleration at the acceleration end point is set to be 0, so that according to the above known condition and the preset parabolic curve equation, the curve equation of the acceleration stage can be calculated and solved, specifically, the acceleration curve equation satisfies the following relation:
in the formula, v represents the speed corresponding to any time t in the acceleration stage;
vs represents the initial acceleration initial speed of the acceleration stage;
v1 represents the acceleration end velocity of the acceleration phase;
ta represents the acceleration time of the acceleration phase.
In this way, in the acceleration stage of the motor, the motor is controlled to run in an acceleration mode according to the acceleration curve equation obtained through the calculation.
Further, integral operation is performed on the speed of the acceleration curve equation in a time period from 0 to ta to obtain the acceleration stroke in the acceleration stage, and the specific relation is as follows:
In the formula: sa represents an acceleration stroke of the acceleration phase.
It should be noted that, under the same acceleration condition, the present invention further calculates the operation strokes of the trapezoidal speed curve and the S-shaped speed curve, that is, the acceleration is started from time 0, and the speed is accelerated from vs to v1 until time ta, where the operation strokes of the two acceleration stages are both the following relations:
in the formula, Sa1 represents the operation stroke of the acceleration stage of the trapezoidal speed curve or the S-shaped speed curve.
Then, comparing the running stroke with the running stroke of the invention in the acceleration stage, the difference between the two can be obtained, namely the specific difference relation is as follows:
according to the difference relation, the running of the motor is controlled according to the acceleration curve designed by the invention, the speed is in smooth transition, the acceleration is continuously and naturally changed, the acceleration is changed into 0 at the acceleration end point, and the minimum impact on the machinery can be ensured; on the premise that the initial speed vs is not greater than the set speed v1, the running stroke of the acceleration stage is larger than that of a trapezoidal speed curve and an S-shaped speed curve under the same condition, so that the acceleration efficiency of the whole machine can be improved by adopting the acceleration curve designed by the invention, and the more obvious the difference between the speeds v1 and vs, the larger the improvement range of the acceleration efficiency.
Specifically, as shown in fig. 1 and fig. 2, the deceleration stage of the present invention adopts an S-shaped speed curve with constant jerk, specifically, the speed curve includes a speed curve of an acceleration and deceleration stage, a speed curve of a uniform deceleration stage, and a speed curve of a deceleration stage, so that, in the deceleration stage of the motor, a preset S-shaped speed curve with constant jerk is adopted to further control the deceleration operation of the motor through the above three deceleration stages.
First, the parameters of the deceleration stage are set, assuming that the jerk is Jd, the stroke of the entire deceleration stage is Sd, the operation time of the acceleration/deceleration stage is td1, and the operation stroke is Sd 1. The level-down stage runs for td2 with a stroke of Sd 2. The operation time of the deceleration reduction stage is td3, the operation stroke is Sd3, and it is obvious that td is td1+ td2+ td 3. Generally, the running time of an acceleration and deceleration stage and a deceleration and deceleration stage is designed to be the same, a smooth coefficient kd (0< kd <0.5) is introduced, kd is opened to a user to be adjustable, and limit value processing is performed in the user, so that the user can flexibly adjust the value of kd according to the actual load of a motor and the smoothness of a brake when the machine runs at a high speed.
Specifically, let td1 be kd × td, the following relationship is given:
td1＝kd×td，
td3＝kd×td，
td2＝(1-2×kd)×td。
Further, according to the parameters and the relational expression, in the acceleration and deceleration stage, an acceleration and deceleration curve equation is obtained by calculating in a way that the acceleration value is increased according to a linear rule, and the acceleration and deceleration curve equation is used for controlling the motor to operate at the accelerated and decelerated speed, wherein the specific acceleration and deceleration curve equation meets the following relational expression:
in the formula, v represents the speed corresponding to any time t in the acceleration and deceleration stage;
jd represents the acceleration of the acceleration and deceleration stage;
td1 represents the running time of the acceleration and deceleration phase.
Furthermore, the above acceleration and deceleration curve equation is integrated to obtain the operation stroke of the acceleration and deceleration stage, and the specific relation is as follows:
in the formula, Sd1 represents the operation stroke of the acceleration and deceleration stage.
Then, in the uniform deceleration stage, controlling the uniform deceleration operation of the motor by using a uniform deceleration curve equation with constant acceleration corresponding to the end of the acceleration and deceleration stage, namely keeping the acceleration unchanged, wherein the acceleration is the value at the terminal time of the acceleration and deceleration stage, and the obtained uniform deceleration curve equation meets the following relational expression:
in the formula, v represents the speed corresponding to any time t in the uniform deceleration stage;
jd represents the acceleration in the acceleration and deceleration stage;
td2 represents the run time of the ramp down phase.
Further, the above equation of the uniform deceleration curve is integrated to obtain the running stroke in the uniform deceleration stage, and the specific relation is as follows:
In the equation, Sd2 represents the operation stroke of the uniform deceleration stage.
Similarly, in the deceleration stage, the deceleration curve equation is calculated by adopting the acceleration value to reduce according to the linear rule, and the deceleration curve equation is used for controlling the deceleration operation of the motor. And obtaining the following deceleration curve equation and the running stroke in the deceleration stage, wherein the end point speed is ve, and the end point acceleration is 0.
Wherein, the deceleration curve equation satisfies the following relational expression:
in the formula, v represents the speed corresponding to any time t in the deceleration stage;
jd represents jerk during the deceleration phase;
td3 represents the run time of the deceleration phase.
Specifically, the jerk during the deceleration phase is
Further, the above deceleration curve equation is integrated to obtain the operation stroke in the deceleration stage, and the specific relation is as follows:
in the equation, Sd3 represents the operation stroke of the deceleration phase.
Furthermore, the operation stroke of the whole deceleration stage is obtained according to the operation strokes of the three deceleration stages, and the specific relation is as follows:
in the formula, Sd represents an operation stroke in the deceleration stage.
Further, the invention also calculates the acceleration stroke of the acceleration stage according to an acceleration curve equation, calculates the deceleration stroke of the deceleration stage according to an S-shaped speed curve with constant acceleration, acquires the total stroke of the motor, and further judges whether the motor has a step of a constant speed stage according to the relationship between the total stroke and the acceleration stroke and the deceleration stroke, which is specifically as follows: when the total stroke is greater than the sum of the acceleration stroke and the deceleration stroke, it is determined that the motor has a constant speed stage, as shown in fig. 2, it is described that the entire operation stage includes a constant speed operation stage, the system can accelerate to a desired maximum speed v1, that is, when S > Sa + Sd, the constant speed operation stage exists, the operation stroke and the operation time of the constant speed stage are as follows,
Sv＝S-Sa-Sd
In the formula, Sv represents the running stroke at the constant speed stage;
s represents the total travel of the whole operation stage;
tv represents the running time of the uniform phase.
When the total stroke is not greater than the sum of the acceleration stroke and the deceleration stroke, it is determined that the motor does not have a constant speed stage, as shown in fig. 3, it is described that the entire operation stage does not include a constant speed operation stage, and in the entire operation process, the maximum speed that the system can accelerate is not greater than the desired speed v1, and it is assumed that v2 is the maximum speed actually operated in the current motion process. That is, when S < ═ Sa + Sd does not exist in the constant speed operation stage, the calculation planning needs to be performed again in the whole operation stage.
Specifically, after it is determined that the motor does not have the uniform speed stage, the method further includes: acquiring the actual maximum speed v2 of the motor in the whole operation stage, and correcting the recalculation of v2 by the following specific relation:
in the formula, v2 represents the maximum speed actually operated during the corrected motion.
And then, respectively correcting an acceleration curve equation and an S-shaped curve equation with constant jerk according to the actual maximum speed, wherein the method specifically comprises the following steps: further correcting the speed curve in the acceleration stage according to the corrected actual maximum speed v2, wherein the corrected speed curve relation is as follows:
In the formula, v represents the velocity corresponding to the arbitrary time t in the acceleration stage after the correction.
That is, the corrected maximum operating speed v2 is substituted into the speed profile of the acceleration stage, and the set maximum speed v1 in the relational expression is replaced to obtain the speed profile of the acceleration stage after the correction. And, the corrected acceleration stage speed curve is subjected to integral operation on time in the same way, and the stroke of the specific time in the acceleration stage can be obtained.
Furthermore, the jerk in the deceleration stage is corrected, and the corrected jerk relation is as follows:
in the equation, Jd2 represents the jerk in the deceleration phase after correction.
And then, replacing the jerk Jd and the maximum speed v1 set in all speed curves in the deceleration stage with the corrected jerk Jd2 and the corrected maximum speed v2, and performing integral operation on time to obtain the stroke at the specific moment in the deceleration stage. That is, through the modification of the uniform velocity stage, the velocity curve of the invention can always keep the preset three motion stages, and through the reasonable trajectory planning of the whole motion process, the connection between the motion stages is smooth and has no impact.
According to the law that the acceleration is constant and the acceleration changes linearly in a one-time direction, a deceleration curve with adjustable smoothness in the deceleration process is designed with the smallest calculated amount, and the requirement of rapid and stable shutdown in a high-speed running state is met. Meanwhile, the whole motion process is reasonably planned automatically according to the required maximum speed, acceleration and deceleration time and the total travel, so that the connection among all motion stages is smooth and has no impact. The asymmetric S-shaped speed curve designed by the invention is applied to the control of a feeding motor of a high-speed bag making machine, and the processing speed per minute can be increased by 5-10% on the premise of the same machine and the same product specification, so that the improvement range of the capacity is considerable, and great economic value is created for users.
In a second aspect of the present invention, as shown in fig. 4, there is provided a speed control system 100 for an electric machine, the system 100 employing an asymmetric S-shaped speed profile control system, the system comprising: an acceleration control module 101, a constant speed control module 102 and a deceleration control module 103; wherein the content of the first and second substances,
and the acceleration control module 101 is configured to calculate and determine an acceleration curve equation according to a preset parabolic curve equation at an acceleration stage of the motor, and control the motor to operate in an accelerated manner according to the acceleration curve equation.
And the constant speed control module 102 is configured to, at a constant speed stage of the motor, control the motor to operate at a constant speed according to a speed corresponding to an acceleration termination time at the acceleration stage.
And the deceleration control module 103 is used for adopting a preset S-shaped speed curve with constant jerk in the deceleration stage of the motor and controlling the motor to operate in a deceleration mode according to the S-shaped speed curve with constant jerk.
The speed control system designed by the invention is applied to the control of a high-speed bag making machine, and the processing speed per minute can be improved by 5-10% on the premise of the same machine and the same product specification, so that the improvement range of the productivity is considerable, and great economic value is created for users. In addition, the speed control system of the motor provided by the invention can ensure that the stability in the operation process is equal to or lower than that of equipment applying a conventional S-shaped curve while the speed is increased, thereby being beneficial to reducing the failure rate of the equipment and prolonging the service life of the equipment.
According to the motor speed control method and the motor speed control system, the acceleration curve of the parabola with the power of 2 and the opening downward is designed, so that the motor torque meets the requirement of load torque in the acceleration stage, the running stroke of the motor is greatly improved within the same acceleration time, and the acceleration efficiency is further improved. And secondly, in the deceleration stage, an S-shaped speed curve with constant acceleration is adopted, and a deceleration curve with adjustable smoothness in the deceleration process is designed according to the rule that the acceleration is constant and the acceleration changes linearly at a first time and with calculation amount as small as possible, so that the requirement of rapid and stable shutdown in a high-speed operation state is met. Meanwhile, the motor acceleration control method provided by the invention can carry out reasonable trajectory planning on the whole motion process automatically according to the maximum speed, acceleration and deceleration time and the total stroke which are preset requirements, so that the connection between each motion stage is smooth and has no impact. The motor speed control method and the motor speed control system provided by the invention solve the problems of insufficient speed response and low acceleration efficiency in the acceleration stage of the common S-shaped curve, improve the processing speed and efficiency of equipment on the premise of not influencing the stability of high-speed shutdown, and enlarge the application range of the S-shaped speed curve in high-speed processing equipment.
It will be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention, and the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and scope of the invention, and such modifications and improvements are also considered to be within the scope of the invention.
Claims (9)
1. A speed control method of a motor is characterized in that an asymmetric S-shaped speed curve is adopted, and the speed control method specifically comprises the following steps:
in the acceleration stage of the motor, calculating and determining an acceleration curve equation according to a preset parabolic curve equation, and controlling the motor to operate in an accelerated mode according to the acceleration curve equation;
in the constant speed stage of the motor, controlling the motor to operate at a constant speed according to the speed corresponding to the acceleration ending moment in the acceleration stage;
in the deceleration stage of the motor, a preset S-shaped speed curve with constant acceleration is adopted, and the motor is controlled to operate in a deceleration mode by the S-shaped speed curve with constant acceleration;
calculating an acceleration stroke of the acceleration stage according to the acceleration curve equation;
calculating the deceleration stroke of the deceleration stage according to the S-shaped speed curve with constant acceleration;
Acquiring the total stroke of the motor, and judging whether the motor has a uniform speed stage according to the relationship between the total stroke and the acceleration stroke and the deceleration stroke, wherein the specific steps are as follows:
when the total stroke is larger than the sum of the acceleration stroke and the deceleration stroke, judging that the motor has a constant speed stage;
when the total stroke is not greater than the sum of the acceleration stroke and the deceleration stroke, judging that the motor does not have a constant speed stage;
after the motor is judged not to have the uniform speed stage, acquiring the actual maximum speed of the motor in the whole operation stage, and correcting the actual maximum speed to obtain the corrected actual maximum speed, wherein the specific relation is as follows:
where v2 is the actual maximum velocity corrected;
s is the total stroke of the whole operation stage;
vs represents the initial acceleration initial speed of the acceleration stage;
ta represents the acceleration time of the acceleration phase;
td is the running time of the acceleration stage;
ve is the end point speed of the whole operation stage;
respectively correcting the acceleration curve equation and the S-shaped curve equation with constant jerk according to the corrected actual maximum speed; wherein the content of the first and second substances,
Correcting the speed curve of the acceleration curve equation according to the corrected actual maximum speed, wherein the relation of the corrected speed curve is as follows:
in the formula, v represents the speed corresponding to any time t in the corrected acceleration stage;
and correcting the jerk of the S-shaped curve equation with constant jerk according to the corrected actual maximum speed, wherein the corrected jerk is as follows:
in the formula, Jd2 represents the jerk in the deceleration stage after correction;
kd represents a smoothing coefficient, where 0< kd < 0.5.
2. The method of claim 1, wherein said computationally determining an acceleration curve equation from a predetermined parabolic curve equation comprises:
respectively setting an acceleration initial speed corresponding to the acceleration starting time and an acceleration terminal speed corresponding to the acceleration terminal time;
and calculating and determining the acceleration curve according to the acceleration initial speed, the acceleration end speed and the parabolic curve equation.
3. The method according to claim 2, wherein the setting of the acceleration initial speed corresponding to the acceleration start time and the acceleration end speed corresponding to the acceleration end time respectively further comprises:
Setting the acceleration corresponding to the acceleration terminal moment to be zero;
the calculating and determining the acceleration curve according to the initial acceleration speed, the final acceleration speed and the parabolic curve equation comprises:
and calculating and determining the acceleration curve according to the acceleration initial speed, the acceleration end point speed, the acceleration at the acceleration end point moment and the parabolic curve equation.
4. The method of claim 3, wherein the acceleration curve equation satisfies the following relationship:
in the formula, v represents the speed corresponding to any time t in the acceleration stage;
vs represents the initial acceleration initial speed of the acceleration stage;
v1 represents the acceleration end velocity of the acceleration phase;
ta represents the acceleration time of the acceleration phase.
5. The method of any of claims 1-4, wherein the constant jerk S-shaped velocity profile comprises an acceleration and deceleration phase velocity profile, a uniform deceleration phase velocity profile, and a deceleration phase velocity profile; wherein the content of the first and second substances,
in the deceleration stage of the motor, a preset S-shaped speed curve with constant jerk is adopted, and the motor is controlled to operate in a deceleration mode by the S-shaped speed curve with constant jerk, and the method comprises the following steps:
In the acceleration and deceleration stage, an acceleration and deceleration curve equation is obtained by calculating the acceleration value in a way of increasing according to a linear rule, and the acceleration and deceleration of the motor are controlled by the acceleration and deceleration curve equation;
a uniform deceleration stage, controlling the motor to uniformly decelerate by a uniform deceleration curve equation with constant acceleration corresponding to the end of the acceleration and deceleration stage;
and in the speed reduction and deceleration stage, a speed reduction and deceleration curve equation is calculated by adopting a mode that the acceleration value is reduced according to a linear rule, and the speed reduction and deceleration operation of the motor is controlled by the speed reduction and deceleration curve equation.
6. The method of claim 5, wherein the acceleration and deceleration curve equation satisfies the following relationship:
in the formula, v represents the speed corresponding to any time t in the acceleration and deceleration stage;
jd represents the acceleration rate of the acceleration and deceleration stage;
td1 represents the run time of the acceleration and deceleration phase;
v1 represents the acceleration end velocity of the acceleration phase.
7. The method of claim 5, wherein the uniform deceleration curve equation satisfies the following relationship:
in the formula, v represents the speed corresponding to any time t in the uniform deceleration stage;
jd represents the acceleration rate of the acceleration and deceleration stage;
v1 represents the acceleration end velocity of the acceleration phase;
td1 represents the running time of the acceleration and deceleration phase;
td2 represents the run time of the ramp down phase.
8. The method of claim 5, wherein the deceleration curve equation satisfies the following relationship:
in the formula, v represents the speed corresponding to any time t in the deceleration stage;
v1 represents the acceleration end velocity of the acceleration phase;
jd represents the jerk of the deceleration phase;
td1 represents the run time of the acceleration and deceleration phase;
td2 represents the run time of the ramp-down phase;
td3 represents the run time of the deceleration phase.
9. A speed control system of a motor, characterized in that the system employs the speed control method of a motor according to any one of claims 1 to 8, the system comprising: the device comprises an acceleration control module, a constant speed control module and a deceleration control module; wherein the content of the first and second substances,
the acceleration control module is used for calculating and determining an acceleration curve equation according to a preset parabolic curve equation at the acceleration stage of the motor and controlling the motor to run in an accelerated manner according to the acceleration curve equation;
the constant speed control module is used for controlling the motor to run at a constant speed according to the speed corresponding to the acceleration ending moment of the acceleration stage in the constant speed stage of the motor;
And the deceleration control module is used for adopting a preset S-shaped speed curve with constant acceleration in the deceleration stage of the motor and controlling the motor to operate in a deceleration mode according to the S-shaped speed curve with constant acceleration.
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