CN111416561B - Improved three-ring control method for motor - Google Patents
Improved three-ring control method for motor Download PDFInfo
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- CN111416561B CN111416561B CN202010158446.2A CN202010158446A CN111416561B CN 111416561 B CN111416561 B CN 111416561B CN 202010158446 A CN202010158446 A CN 202010158446A CN 111416561 B CN111416561 B CN 111416561B
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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
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to an improved three-ring control method of a motor, which comprises the following specific steps: an output limiting module which can set a minimum value range and a maximum value range is added behind a speed ring in three-ring control of the motor so as to judge the output quantity of the speed ring and adjust the output quantity of the speed ring; and setting the range of the output limiting module according to the mode to be switched, and issuing a command position, a moment feedforward quantity and the set range of the output limiting module to the motor through the controller so as to switch the motor to the required mode. Compared with the prior art, the invention can realize the quick switching between the position control mode and the moment control mode, thereby saving a great deal of switching time; in addition, the output quantity of the speed loop can be dynamically adjusted, and further the response characteristic of the position control of the robot can be controlled.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an improved three-ring control method for a motor.
Background
With the development of robotics, the dynamics-based drag teaching function is widely used. In the dragging teaching application, a common dragging implementation mode is that a motor works in a torque control mode, a controller calculates a torque value required by static balance of each shaft in real time and sends the torque value to the motor as an instruction torque, so that the robot can realize self balance, and an operator can drag each shaft with small force. When the robot is in the teaching and reproducing mode, the motor needs to work in the position control mode to ensure good position accuracy. That is, in the application of the drag teaching, the motor needs to be switched between the torque control mode and the position control mode frequently.
At present, a motor is generally controlled by three loops, namely a position loop, a speed loop and a current loop from outside to inside. There are three control modes, namely, a position control mode, a speed control mode and a torque control mode. The position control mode needs three loops of a position loop, a speed loop and a current loop, and the torque control mode only needs to use the current loop. When the mode is switched, the servo is required to be performed firstly, the motor is in a brake state, then the mode is switched, and finally the servo is performed, the brake is released, and the motor works in a new control mode. Because of the up and down servo, the process is complicated and time-consuming. Therefore, it is very important to research the fast switching between the motor torque control mode and the motor position control mode in the upper servo state.
Disclosure of Invention
In order to solve the technical problem, the invention provides an improved motor three-ring control method.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
an improved three-ring control method for a motor comprises the following specific steps:
(1) an output limiting module which can set a minimum value and a maximum value to judge the output quantity of the speed loop and adjust the output quantity of the speed loop is added behind the speed loop in the three-loop control of the motor;
(2) and setting the range of the output limiting module according to the torque control mode and the position control mode which need to be switched, and issuing a command position, a torque feedforward quantity and the set range of the output limiting module to the motor through the controller so as to switch the motor to the needed mode.
Further, the formula between the input and the output of the output limiting module in the step (1) is as follows:
in the formula (one), VinIs the input of the output limiting module, i.e. the speed loop output, VoutMin is the minimum value defined by the output limit module, and max is the maximum value defined by the output limit module.
Further, if the motor needs to be switched to the torque control mode in the step (2), the specific steps are as follows:
(A) setting the minimum value and the maximum value of the output limiting module to be zero;
(B) calculating to obtain the input quantity of a speed ring in the position ring, and calculating to obtain the output quantity of the speed ring in the speed ring;
(C) after the output quantity of the speed loop passes through the output limiting module, the output quantity of the speed loop is zero, and then the output quantity of the speed loop and the torque feedforward quantity are added together to be used as the input quantity of the current loop;
(D) and in the current loop, calculating the difference between the input quantity of the current loop and the torque obtained by the current feedback module, namely a torque following error, wherein the torque following error is converted into current by a driving circuit and is sent to the motor so as to switch the motor to a torque control mode.
Further, if the motor needs to be switched to the position control mode in the step (2), the specific steps are as follows:
(S1) setting the minimum value of the output limiting module to be smaller than the negative motor peak torque and the maximum value to be larger than the positive motor peak torque;
(S2) calculating the input quantity of the speed loop in the position loop and the output quantity of the speed loop in the speed loop;
(S3) after the output quantity of the speed loop passes through the output limiting module, the output quantity of the speed loop is unchanged, and then the output quantity of the speed loop and the torque feedforward quantity are added to be used as the input quantity of the current loop;
(S4) in the current loop, calculating the difference between the input quantity of the current loop and the torque obtained by the current feedback module, namely the torque following error, and converting the torque following error into current through the driving circuit and sending the current to the motor so as to switch the motor to the position control mode.
Further, in the position loop, the difference between the instruction position and the actual position obtained by the position feedback module is calculated, namely the position following error, and the position following error is obtained by the position control module to obtain the input quantity of the speed loop.
Further, in the speed loop, the difference between the input quantity of the speed loop and the actual speed obtained by the speed feedback module is calculated, namely the speed following error, and the speed following error passes through the speed control module to obtain the output quantity of the speed loop.
The invention has the beneficial effects that:
compared with the prior art, the invention can realize the quick switching between the position control mode and the moment control mode, thereby saving a great deal of switching time; in addition, the output quantity of the speed loop can be dynamically adjusted, and further the response characteristic of the position control of the robot can be controlled.
Drawings
The invention is further illustrated with reference to the following figures and examples:
fig. 1 is a three-loop control block diagram of the motor of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the embodiments.
As shown in fig. 1, an improved three-loop control method for a motor includes the following steps:
(1) and an output limiting module which can set a minimum value and a maximum value to judge the output quantity of the speed loop and adjust the output quantity of the speed loop is added behind the speed loop in the three-loop control of the motor.
Specifically, the formula between the input and the output of the output limiting module in the step (1) is as follows:
in the formula (one), VinIs the input of the output limiting module, i.e. the speed loop output, VoutMin is the minimum value defined by the output limit module, and max is the maximum value defined by the output limit module.
When the output quantity of the speed loop is larger than the maximum value defined by the output limiting module, the output quantity of the speed loop is adjusted to be the maximum value of the output limiting module; when the output quantity of the speed loop is smaller than the minimum value defined by the output limiting module, the output quantity of the speed loop is adjusted to be the minimum value of the output limiting module; and when the speed loop output quantity is between the maximum value and the minimum value defined by the output limiting module, the speed loop output quantity is kept unchanged.
(2) And setting the range of the output limiting module according to the torque control mode and the position control mode which need to be switched, and issuing a command position, a torque feedforward quantity and the set range of the output limiting module to the motor through the controller so as to switch the motor to the needed mode.
To further illustrate the method, the motor is now switched between the torque control mode and the position control mode in the up servo state, for example. The speed loop output is known to range from negative motor peak torque to positive motor peak torque.
When the motor needs to be switched to a torque control mode, the specific steps are as follows:
(A) and setting the minimum value and the maximum value of the output limiting module to be zero.
(B) Calculating the difference between the instruction position and the actual position obtained by the position feedback module in the position loop, namely the position following error, and obtaining the input quantity of the speed loop by the position following error through the position control module; and in the speed loop, calculating the difference between the input quantity of the speed loop and the actual speed obtained by the speed feedback module, namely a speed following error, and obtaining the output quantity of the speed loop by the speed following error through the speed control module.
(C) After the output quantity of the speed loop passes through the output limiting module, the output quantity of the speed loop is always zero according to the formula (one) in the step (1), and then the output quantity of the speed loop and the torque feedforward quantity are added to be used as the input quantity of the current loop.
(D) And in the current loop, calculating the difference between the input quantity of the current loop and the torque obtained by the current feedback module, namely a torque following error, wherein the torque following error is converted into current by a driving circuit and is sent to the motor so as to switch the motor to a torque control mode.
When the motor needs to be switched to a torque control mode, the specific steps are as follows:
(S1) setting the minimum value of the output limiting module to be smaller than the negative motor peak torque and the maximum value to be larger than the positive motor peak torque. In this embodiment, the minimum value of the output limiting module is set to be negative twice the peak motor torque, and the maximum value is set to be positive twice the peak motor torque.
(S2) calculating the difference between the instruction position and the actual position obtained by the position feedback module in the position loop, namely the position following error, and obtaining the input quantity of the speed loop by the position following error through the position control module; and in the speed loop, calculating the difference between the input quantity of the speed loop and the actual speed obtained by the speed feedback module, namely a speed following error, and obtaining the output quantity of the speed loop by the speed following error through the speed control module.
(S3) after the output quantity of the speed loop passes through the output limiting module, the output quantity of the speed loop is constant according to the formula (one) in the step (1), and then the output quantity of the speed loop is added with the torque feedforward quantity to be used as the input quantity of the current loop.
(S4) in the current loop, calculating the difference between the input quantity of the current loop and the torque obtained by the current feedback module, namely the torque following error, and converting the torque following error into current through the driving circuit and sending the current to the motor so as to switch the motor to the position control mode.
According to the control method, when the motor needs to switch the mode, the motor can be quickly switched between the position control mode and the torque control mode only by changing the minimum value and the maximum value of the output limiting module. Compared with the prior art, the invention has the advantages of simple structure, short switching time and greatly improved switching efficiency.
The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An improved motor three-ring control method is characterized in that: the method comprises the following specific steps:
(1) an output limiting module which can set a minimum value and a maximum value to judge the output quantity of the speed loop and adjust the output quantity of the speed loop is added behind the speed loop in the three-loop control of the motor;
(2) and setting the range of the output limiting module according to the torque control mode and the position control mode which need to be switched, and issuing a command position, a torque feedforward quantity and the set range of the output limiting module to the motor through the controller so as to switch the motor to the needed mode.
2. The improved motor three-loop control method as claimed in claim 1, characterized in that: the formula between the input and the output of the output limiting module in the step (1) is as follows:
in the formula (one), VinIs the input of the output limiting module, i.e. the speed loop output, VoutMin is the minimum value defined by the output limit module, and max is the maximum value defined by the output limit module.
3. An improved motor three-loop control method as claimed in claim 2, characterized in that: if the motor needs to be switched to the torque control mode in the step (2), the specific steps are as follows:
(A) setting the minimum value and the maximum value of the output limiting module to be zero;
(B) calculating to obtain the input quantity of a speed loop in the position loop, and calculating to obtain the output quantity of the speed loop in the speed loop;
(C) after the output quantity of the speed loop passes through the output limiting module, the output quantity of the speed loop is zero, and then the output quantity of the speed loop and the torque feedforward quantity are added together to be used as the input quantity of the current loop;
(D) and in the current loop, calculating the difference between the input quantity of the current loop and the torque obtained by the current feedback module, namely a torque following error, wherein the torque following error is converted into current by a driving circuit and is sent to the motor so as to switch the motor to a torque control mode.
4. An improved motor three-loop control method as claimed in claim 2, characterized in that: if the motor needs to be switched to the position control mode in the step (2), the specific steps are as follows:
(S1) setting the minimum value of the output limiting module to be smaller than the negative motor peak torque and the maximum value to be larger than the positive motor peak torque;
(S2) calculating at the position ring to obtain the input quantity of the speed ring, and calculating at the speed ring to obtain the output quantity of the speed ring;
(S3) after the output quantity of the speed loop passes through the output limiting module, the output quantity of the speed loop is unchanged, and then the output quantity of the speed loop and the torque feedforward quantity are added to be used as the input quantity of the current loop;
(S4) in the current loop, calculating the difference between the input quantity of the current loop and the torque obtained by the current feedback module, namely the torque following error, and converting the torque following error into current through the driving circuit and sending the current to the motor so as to switch the motor to the position control mode.
5. An improved motor three-loop control method as claimed in claim 3 or 4, characterized in that: and in the position loop, calculating the difference between the instruction position and the actual position obtained by the position feedback module, namely the position following error, and obtaining the input quantity of the speed loop by the position following error through the position control module.
6. An improved motor three-loop control method as claimed in claim 3 or 4, characterized in that: and in the speed loop, calculating the difference between the input quantity of the speed loop and the actual speed obtained by the speed feedback module, namely a speed following error, and obtaining the output quantity of the speed loop by the speed following error through the speed control module.
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| CN105958898A (en) * | 2016-06-01 | 2016-09-21 | 深圳德康威尔科技有限公司 | Voice coil motor driver and control method thereof |
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| JPH0828989B2 (en) * | 1985-03-22 | 1996-03-21 | 株式会社日立製作所 | Electric motor controller |
| JPH0969013A (en) * | 1995-08-31 | 1997-03-11 | Fanuc Ltd | Control mode switching method of servo system using servomotor |
| DE69636230T2 (en) * | 1995-09-11 | 2007-04-12 | Kabushiki Kaisha Yaskawa Denki, Kitakyushu | ROBOT CONTROLLER |
| JP2002278629A (en) * | 2001-03-22 | 2002-09-27 | Yaskawa Electric Corp | Servo control method |
| US6777904B1 (en) * | 2003-02-25 | 2004-08-17 | Ford Global Technologies, Llc | Method and system for controlling a motor |
| JP5982774B2 (en) * | 2011-10-11 | 2016-08-31 | セイコーエプソン株式会社 | Motor controller, robot hand |
| JP5751433B2 (en) * | 2013-02-06 | 2015-07-22 | 株式会社安川電機 | Motor control device and motor control method |
| CN103746635B (en) * | 2013-11-27 | 2016-11-16 | 广东威灵电机制造有限公司 | A kind of motor speed method for limiting and system |
| CN107634694B (en) * | 2017-08-22 | 2020-04-10 | 武汉港迪电气有限公司 | Rotating speed control method of rotating mechanism |
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