CN111900906A - Method and device for controlling spindle rotation speed, sewing machine and readable storage medium - Google Patents
Method and device for controlling spindle rotation speed, sewing machine and readable storage medium Download PDFInfo
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- CN111900906A CN111900906A CN202010884836.8A CN202010884836A CN111900906A CN 111900906 A CN111900906 A CN 111900906A CN 202010884836 A CN202010884836 A CN 202010884836A CN 111900906 A CN111900906 A CN 111900906A
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract
The application provides a control method and device of spindle rotation speed, a sewing machine and a readable storage medium, wherein the method comprises the following steps: acquiring the rotating speed of a motor of the sewing machine, and acquiring a load moment disturbance estimation value of the motor according to a load torque observation model; acquiring an actual rotating speed estimated value of the motor according to the rotating speed observation model and the load moment disturbance estimated value; and controlling the motor to output the corresponding rotating speed to a main shaft of the sewing machine according to the load moment disturbance estimated value and the actual rotating speed estimated value. According to the technical scheme, a load torque disturbance estimated value of the motor is obtained through the observation of the load torque observation model, an actual rotating speed estimated value of the motor is obtained through the observation of the rotating speed observation model and is used as an actual output of PID control, the motor of the sewing machine is controlled by combining a PID control strategy, the influence of load disturbance on a main shaft system can be inhibited, the speed performance of the main shaft is improved, the calculated amount in the control process is small, and the simultaneous control of multiple motors on an embedded chip is facilitated.
Description
Technical Field
The present disclosure relates to the field of sewing machine control technologies, and in particular, to a method and an apparatus for controlling a spindle rotation speed, a sewing machine, and a readable storage medium.
Background
The industrial sewing machine mainly comprises a main shaft subsystem, a movable frame subsystem, a main control subsystem, a thread cutting subsystem and a middle presser foot subsystem, wherein the systems realize stitch sewing through mutual coordination work, the sewing process of stitches, the attractiveness and the quality of the stitches are the results of mutual cooperative control of the subsystems, the angle actions of other subsystems depend on the angle actions of the main shaft subsystem, the multi-angle action precision of the main shaft subsystem depends on the speed performance of a main shaft, and therefore the control technology of the speed performance of the main shaft is a key technology for improving the quality of the industrial sewing machine.
In the prior art, most of the main shaft system control strategies of industrial sewing machines mainly adopt a PID (proportional-integral-derivative) control, which is a linear controller, and has application limitation in a nonlinear system and poor dynamic control performance.
Disclosure of Invention
The application provides a control method and device of a spindle rotating speed, a sewing machine and a readable storage medium, which are used for solving the problems of application limitation and poor dynamic control performance of the existing sewing machine spindle system in a nonlinear system.
In a first aspect, an embodiment of the present application provides a method for controlling a spindle rotation speed, which is applied to a sewing machine, and the method includes:
acquiring the rotating speed of a motor of the sewing machine, and acquiring a load moment disturbance estimation value of the motor according to a load torque observation model;
acquiring an actual rotating speed estimated value of the motor according to a rotating speed observation model and the load moment disturbance estimated value;
and controlling the motor to output a corresponding rotating speed to a main shaft of the sewing machine according to the load moment disturbance estimated value and the actual rotating speed estimated value.
In the control method of the main shaft rotating speed of the embodiment, a preset load torque observation model and a preset rotating speed observation model are adopted to respectively observe and obtain a load moment disturbance estimated value of the motor and an actual rotating speed estimated value of the motor, and a proportional-integral-derivative control method is combined to control the motor, so that the influence of load disturbance on the motor can be inhibited, the speed performance of the main shaft is improved, and the sewing quality of the sewing machine is improved.
In one embodiment, the obtaining of the rotation speed of the motor and the obtaining of the load moment disturbance estimation value of the motor according to the load torque observation model specifically include:
acquiring the actual rotating speed of the motor and the actual observed rotating speed at the initial moment;
and acquiring a load moment disturbance estimation value of the motor according to the load torque observation model, the actual rotating speed of the motor and the actual observed rotating speed of the motor at the initial moment.
In one embodiment, the load torque observation model is:
in the above formula, the first and second carbon atoms are,
as an estimate of the disturbance of the load moment, KpTo proportional gain, KIFor integral gain, J is the principal axis moment of inertia, l2For a predetermined parameter, ωrIn order to be the actual rotational speed,
in order to actually observe the rotation speed,
is an integral expression.
In one embodiment, the obtaining an actual rotation speed estimated value of the motor according to the rotation speed observation model and the load moment disturbance estimated value includes:
acquiring the actual output torque of the motor;
and acquiring an actual rotating speed estimated value of the motor according to the actual output torque, the rotating speed observation model and the load torque disturbance estimated value.
In one embodiment, the rotation speed observation model is:
in the above formula, the first and second carbon atoms are,
is the k-th actual rotation speed estimated value, J is the main shaft rotational inertia, tsIs the sampling period of the current loop of the motor, B is the damping coefficient, TeIn order to actually output the torque,
in order to estimate the disturbance of the load moment,
the k-1 th actual rotating speed estimated value is obtained.
In one embodiment, the controlling the motor to output a corresponding rotation speed to the spindle according to the estimated load torque disturbance value and the estimated actual rotation speed value includes:
acquiring a current compensation value of a current loop of the motor according to the load moment disturbance estimation value;
filtering the actual rotating speed estimated value to obtain a filtered rotating speed estimated value;
and controlling the motor to output the rotating speed to the main shaft according to the current compensation value and the filtered rotating speed estimation value.
In one embodiment, the controlling the motor to output the rotation speed to the spindle according to the current compensation value and the filtered rotation speed estimation value includes:
obtaining an expected input current of a current loop of the motor according to the expected speed instruction of the motor and the filtered rotating speed estimated value;
obtaining the actual output torque of the motor according to the expected input current of the current loop and the current compensation value;
and controlling the motor to output a corresponding rotating speed to the main shaft according to the actual output torque.
In a second aspect, a control device of a main shaft rotation speed comprises a load torque observer, a rotation speed observer, a speed controller and a current controller;
the load torque observer is used for acquiring a load torque disturbance estimation value of a motor of the sewing machine;
the rotating speed observer is used for acquiring an actual rotating speed estimation value of the motor;
the speed controller is used for outputting expected input current of a current loop to the current controller according to the actual rotating speed estimated value;
the current controller is used for outputting actual output torque to the motor so as to control the motor to output corresponding rotating speed to the main shaft of the sewing machine.
In a third aspect, a sewing machine includes: the control device of the spindle rotating speed is used for executing the control method of the spindle rotating speed.
In a fourth aspect, a readable storage medium for storing a computer program for implementing the method of controlling the rotational speed of a spindle according to any one of claims 1 to 7.
According to the control method and device for the rotating speed of the main shaft, the sewing machine and the readable storage medium, the load moment disturbance estimated value of the motor is obtained through the observation of the load torque observation model, the actual rotating speed estimated value of the motor is obtained through the observation of the rotating speed observation model and is used as the actual output of PID control, the motor of the sewing machine is controlled by combining a PID control strategy, the influence of the load disturbance on a main shaft system can be restrained, the speed performance of the main shaft is improved, the calculated amount in the control process is small, and the simultaneous control of multiple motors on an embedded chip is facilitated.
Drawings
FIG. 1 is a schematic view of a sewing machine according to an embodiment of the present application;
FIG. 2 is a schematic view of a main shaft control of the sewing machine according to the embodiment of the present application;
fig. 3 is a schematic flowchart of a method for controlling a spindle rotation speed according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a control device for a spindle rotation speed according to an embodiment of the present disclosure;
FIG. 5a is a schematic diagram of spindle speed error provided in an embodiment of the present application;
fig. 5b is a schematic diagram of spindle speed error provided in the prior art.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
With the development of automatic control technology, in order to sew various stitch beautiful sewing products with high efficiency, most of the existing sewing machines adopt automatic control, the sewing machine system mainly comprises a main shaft system, a movable frame subsystem, a main control subsystem, a thread cutting subsystem and a middle presser foot subsystem, the subsystems realize stitch sewing through mutual coordination work, the speed performance of the main shaft system directly influences the stitch sewing effect, wherein, the main shaft speed performance is mainly influenced by the disturbance of the following three loads, the first is that a mechanical cam is arranged on the main shaft to realize the thread picking function, when the main shaft works, each needle of the main shaft has a sudden change of load moment which directly influences the main shaft speed performance, the second is that a cam mechanism is arranged at the shaft end of the lower shaft of the main shaft, at the thread cutting time, a solenoid valve can push a mechanical pin into the cam mechanism, the third is that in the sewing process, a control device can send different speeds to a main shaft system according to a pattern stitch, a normal speed increasing and decreasing working condition and a corner speed decreasing and increasing working condition, the main shaft is subjected to load moment disturbance in the speed switching process, and in order to reduce the influence of the load disturbance on the speed of the main shaft and ensure the sewing stitch effect, a corresponding main shaft performance control strategy is adopted to control the speed of the main shaft. In the prior art, one main shaft performance control strategy is PID control, the PID control is a linear controller, the application of the main shaft performance control strategy in a nonlinear system is limited, and the dynamic control performance is poor. In the prior art, another control strategy is to estimate and compensate the disturbance in the system by using an extended state observer through a speed loop active disturbance rejection control algorithm, and perform nonlinear combination on the transient process of a tracking differentiator and the error of the state estimation generated by the extended state observer by using a nonlinear state error feedback controller, but aiming at the load sudden change situation of the motor, the control method cannot obviously improve the speed fluctuation of the speed; in the prior art, a disturbance observer is designed to be combined with a low-pass filter, but the gain required by the disturbance observer is too large, so that the disturbance observer is difficult to be applied to an actual system; in the prior art, another control strategy is to adopt a Kalman filtering method to be combined with parameter self-tuning, but the calculated amount is large and is difficult to apply in an actual system; in the prior art, a control strategy is to apply a neural network to speed observation, but the method needs discrete training of the weight of the neural network, and the calculated amount is large.
In order to solve the above problems, an embodiment of the present application provides a method for controlling a spindle speed, in which an adaptive state observation model is used to obtain an actual rotational speed estimation value of a motor and a load torque disturbance estimation value of the motor, and a PID control method is combined to control the speed of the spindle by controlling the motor of a sewing machine, so that the influence of the load disturbance on a spindle system can be suppressed, the speed performance of the spindle is improved, the rotational speed and the load disturbance of the motor can be observed through the adaptive state observation model, robustness is provided for different loads and load changes, and the amount of calculation involved in the whole process is small, thereby facilitating simultaneous control of multiple motors on an embedded chip.
Before describing the technical solution of the present application, a specific application background of the present solution is first described below.
In the field of automation control technology, PID control is mainly used to control a controlled object, and the control principle is simply that a control deviation is formed by a given value and an actual output value, and then the control deviation is linearly combined according to proportion, integral and differential to form a control quantity to control the controlled object. In this application, the controlled object is a motor of the sewing machine, the motor of the sewing machine is connected to a main shaft of the sewing machine, and the control of the speed performance of the main shaft of the sewing machine can be realized by controlling the motor of the sewing machine.
Fig. 1 is a schematic structural diagram of a sewing machine provided in an embodiment of the present application, a horizontal main shaft 1 is provided in a housing of the sewing machine, a motor (not shown) connected to the main shaft 1 can drive the main shaft 1 to rotate by 360 degrees, a mechanical cam is installed on an upper shaft of the main shaft 1 to realize a thread take-up function, a cam mechanism is installed at a shaft end of a lower shaft of the main shaft 1, at a thread cutting time, the main shaft 1 can control an electromagnetic valve to push a mechanical pin into the cam mechanism, so that the lower shaft of the main shaft drives the mechanical pin, the cam mechanism and the mechanical thread cutting mechanism to rotate together, until the cam mechanism is separated from the lower shaft of the main shaft after the thread cutting is completed, and in a sewing process of the sewing machine, control devices of the motor and the motor send different speeds to the main shaft 1 according to a pattern stitch, a normal speed.
The sewing machine provided by the embodiment of the application can be various sewing machines with different purposes, such as a special industrial sewing machine, a template machine or a pattern sewing machine and the like.
Fig. 2 is a schematic diagram of a main shaft control of a sewing machine according to an embodiment of the present invention, which can be applied to the sewing machine shown in fig. 1, as shown in fig. 2, the sewing machine includes a motor as a controlled object, the motor is connected to a main shaft of the sewing machine (not shown), and the controlled object motor outputs a rotation speed to the main shaft of the sewing machine to control the rotation speed of the main shaft of the sewing machine.
Wherein, ω isrefIs a desired speed command, iqrefIs the desired input current of the q-axis current loop, iqIs the actual current output, T, of the q-axis current looptIs the actual output torque of the motor, KtIs the motor thrust coefficient, TLIs the system load disturbance torque, omegarIs the actual rotational speed of the motor,
is an estimate of the load disturbance torque,
is the estimated value of the actual rotating speed of the motor, R is the resistance value of the motor phase resistor, LqThe q-axis inductance of the time motor is shown, and s is an integral expression.
In the embodiment of the application, the motor is controlled by mainly comprising a speed controller and a current controller, wherein the speed controller outputs expected input current i of a q-axis current loopqrefTo a current controller, which outputs the actual output torque T of the motortTo the motor object and also system load disturbance torque TLOutput to the motor, and the motor object outputs the actual rotating speed omega of the motorrThereby controlling the rotational speed of the main shaft.
In this process, the disturbance torque T is present due to the system loadLIn order to realize accurate control on the motor object, a load torque observer and a rotating speed observer are adopted to observe the motor, and the load torque observer acquires the actual rotating speed omega of the motorrAnd the estimated value of the rotating speed after being filtered by the filter
Then the load torque observer acquires a load torque disturbance estimation value of the motor according to a prestored load torque observation model
And converted into a current compensation value of load moment disturbance
Outputting the current to a current controller; the rotating speed observer is connected with the load torque observer to obtain the actual output torque T of the motortAnd load moment disturbance estimation value
Then the rotating speed observer acquires the actual rotating speed estimated value of the motor according to the prestored rotating speed observation model
And filtering the obtained rotation speed estimation value by a filter
Sending the rotation speed to a speed controller, and estimating the rotation speed by the speed controller according to the filtered rotation speed
And a desired speed command ωrefObtaining the expected input current i of the q-axis current loopqrefIs output to a current controller, and the current controller is used for outputting a desired input current i according to a q-axis current loopqrefQ-axis current loop actual current output iqAnd current compensation value of load moment disturbance
Actual output torque T of output motortTo the motor target.
Hereinafter, the method for controlling the spindle rotation speed of the present application is described in detail through specific embodiments, it should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 3 is a schematic flow chart of a method for controlling a spindle rotation speed according to an embodiment of the present disclosure, which may be applied to the control schematic diagram of the spindle of the sewing machine shown in fig. 2, and in an embodiment of the present disclosure, as shown in fig. 3, the method may include the following steps:
s301, obtaining the rotating speed of a motor of the sewing machine, and obtaining a load moment disturbance estimation value of the motor according to the load torque observation model.
In this embodiment, the motor is used as a controlled object, and what is used for controlling the motor is an execution main body in this embodiment, and the execution main body may be a control device, which at least includes a speed controller, a current controller, a load torque observer, and a rotation speed observer.
The rotating speeds of the motors comprise different types, and at least comprise actual rotating speeds of the motors, estimated rotating speeds of the motors and actual observed rotating speeds of the motors, the actual rotating speeds of the motors can be collected through the sensors, and the actual observed rotating speeds of the motors can be obtained through observation of the rotating speed observer.
Illustratively, when the sewing machine starts to rotate at an initial moment before the sewing machine starts to work, the actual rotating speed of the motor is rapidly increased, the estimated rotating speed and the actual observed rotating speed of the motor can both take values of zero at the moment, after the sewing machine normally works, the actual rotating speed of the motor becomes a relatively stable non-zero value, the actual observed rotating speed of the motor is observed through a rotating speed observer at the moment, and the observed actual observed rotating speed correspondingly becomes a non-zero value.
The load torque observation model can be prestored in the load torque observer, specifically, the sensor acquires the actual rotating speed of the motor and sends the actual rotating speed to the load torque observer, and the load torque observer acquires the actual observed rotating speed of the motor at the initial moment and then performs analysis and calculation through the load torque observation model to obtain the load torque disturbance estimation value of the motor.
The actual observed rotating speed can be a preset value, and can be zero or an operator inputs the actual observed rotating speed into the load torque observer according to actual conditions. The load torque observation model is preset, and the corresponding load torque observation model can be adaptively prestored into the load torque observer according to sewing machines with different purposes.
For example, when the sewing machine is a special industrial sewing machine, the load torque observation model may be:
in the above formula, the first and second carbon atoms are,
as an estimate of the disturbance of the load moment, KpTo proportional gain, KIFor integral gain, J is the principal axis moment of inertia, l2For a predetermined parameter, ωrIn order to be the actual rotational speed,
in order to actually observe the rotation speed,
is an integral expression.
And S302, acquiring an actual rotating speed estimated value of the motor according to the rotating speed observation model and the load moment disturbance estimated value.
In this embodiment of the application, the rotation speed observation model may be prestored in a rotation speed observer, the rotation speed observer is connected to the load torque observer, and after the load torque observer obtains the load torque disturbance estimation value of the motor, the load torque disturbance estimation value is output to the rotation speed observer.
Optionally, the rotation speed observer observes the actual rotation speed of the motor according to the actual output torque of the motor, the disturbance estimation value of the load torque and the rotation speed observation model to obtain the actual rotation speed estimation value of the motor.
The actual output torque of the motor can be acquired by a sensor and input to the rotating speed observer, or the actual output torque of the motor can be input to the rotating speed observer by an operator through an operation interface. The rotating speed observation model can be used for adaptively pre-storing the corresponding rotating speed observation model into the rotating speed observer according to sewing machines with different purposes.
Illustratively, the rotational speed observation model is:
in the above formula, the first and second carbon atoms are,
is the k-th actual rotation speed estimated value, J is the main shaft rotational inertia, tsIs the sampling period of the current loop of the motor, B is the damping coefficient, TeIn order to actually output the torque,
in order to estimate the disturbance of the load moment,
the k-1 th actual rotating speed estimated value is obtained.
And after the rotating speed observer observes and obtains an actual rotating speed estimation value of the motor, the actual rotating speed estimation value is sent to the load torque observer to be used as the input of a load torque observation model in the load torque observer.
And S303, controlling the motor to output the corresponding rotating speed to the main shaft of the sewing machine according to the load moment disturbance estimated value and the actual rotating speed estimated value.
The load torque observer is connected with the current controller, the obtained load torque disturbance estimation value is sent to the current controller, the rotating speed observer is connected with the speed controller through the low-pass filter, and the obtained actual rotating speed estimation value is sent to the speed controller after being filtered through the low-pass filter.
In the embodiment of the application, the speed controller calculates the expected input current i of the q-axis current loop of the motor according to the actual rotating speed estimated valueqrefAnd outputs it to a current controller, which in turn outputs a desired input current i according to the q-axis current loopqrefAnd a load moment disturbance estimated value, and calculating to obtain the actual output moment of the motor, thereby controlling the motor to output the corresponding rotating speed to the main shaft of the sewing machine.
Optionally, in an embodiment, before the load torque observer sends the load torque disturbance estimation value to the current controller, the load torque disturbance estimation value may be converted to obtain a current compensation value of the load torque disturbance, and then the current compensation value is sent to the current controller, where the conversion formula is as follows:
in the above formula, the first and second carbon atoms are,
current compensation value, k, of load moment disturbancesLIs a weight coefficient, KtThe coefficient of the thrust of the motor is,
is the load moment disturbance estimated value.
The actual rotating speed estimation value obtained by the rotating speed observer can be filtered through a low-pass filter to obtain a rotating speed estimation value after filtering, and the rotating speed estimation value after filtering is output to a speed controller, wherein the filtering expression of the low-pass filter is as follows:
in the above formula, the first and second carbon atoms are,
for the rotational speed estimate after filtering,
is an estimate of the actual rotational speed prior to filtering,
and eta is the time constant of the filter for the rotation speed estimated value after the last filtering.
Illustratively, the filter may employ a first order low pass filter.
In the embodiment of the present application, the speed controller commands ω according to the desired speedrefAnd the filtered rotation speed estimated value
Desired input current i of output q-axis current loopqrefTo a current controller which inputs a current i according to a desiredqrefQ-axis current loop actual current output iqAnd load moment disturbance estimation value
Actual output torque T of output motortAnd (5) giving the motor and controlling the motor to output corresponding rotating speed.
According to the control method for the rotating speed of the spindle, load moment disturbance of the motor can be observed through the load torque observation model, the rotating speed of the motor can be observed through the rotating speed observation model, the load moment disturbance estimated value and the rotating speed estimated value are used as the actual output values of PID control, and the PID control strategy is combined, so that the influence of the load disturbance on the spindle system can be restrained, and the speed performance of the spindle is improved.
Optionally, in an embodiment, step S301 specifically includes: acquiring the actual rotating speed of the motor and the actual observed rotating speed at the initial moment; and acquiring a load moment disturbance estimation value of the motor according to the load torque observation model, the actual rotating speed of the motor and the actual observed rotating speed of the motor at the initial moment.
Optionally, in an embodiment, step S302 specifically includes: acquiring the actual output torque of the motor; and obtaining the actual rotating speed estimated value of the motor according to the actual output torque, the rotating speed observation model and the load torque disturbance estimated value.
Optionally, in an embodiment, step S303 specifically includes: acquiring a current compensation value of a current loop of the motor according to the load moment disturbance estimation value; filtering the actual rotating speed estimated value to obtain a filtered rotating speed estimated value; and controlling the motor to output the rotating speed to the main shaft according to the current compensation value and the filtered rotating speed estimation value.
Optionally, in an embodiment, controlling the motor to output the rotation speed to the spindle according to the current compensation value and the filtered rotation speed estimation value specifically includes: obtaining an expected input current of a current loop of the motor according to the expected speed instruction and the filtered rotating speed estimated value; obtaining the actual output torque of the motor according to the expected input current and the current compensation value of the current loop; and controlling the motor to output the corresponding rotating speed to the main shaft according to the actual output torque.
Fig. 4 is a control device of the main shaft rotation speed provided in the embodiment of the present application, and as shown in fig. 4, the control device of the main shaft rotation speed includes a load torque observer 401, a rotation speed observer 402, a speed controller 403, and a current controller 404.
The load torque observer 401 is used for acquiring a load torque disturbance estimation value of a motor of the sewing machine;
the rotating speed observer 402 is used for acquiring an actual rotating speed estimated value of the motor;
the speed controller 403 is configured to output a desired input current of the current loop to the current controller 404 according to the actual rotation speed estimation value;
the current controller 404 is configured to output an actual output torque to the motor to control the motor to output a corresponding rotational speed to a main shaft of the sewing machine.
The control device for the spindle rotation speed provided in the embodiment of the present application may be used to implement the technical solutions in the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
In one embodiment, the load torque observer 401 is used to acquire an actual rotation speed of a motor of the sewing machine and an actual observed rotation speed at an initial time; and acquiring a load moment disturbance estimation value of the motor according to the load torque observation model, the actual rotating speed of the motor and the actual observed rotating speed of the motor at the initial moment.
In one embodiment, the rotation speed observer 402 is configured to obtain an actual output torque of the motor, and obtain an actual rotation speed estimation value of the motor according to the actual output torque, the rotation speed observation model, and the load torque disturbance estimation value.
In one embodiment, the control device of the spindle speed further comprises a low-pass filter.
The rotating speed observer is connected with the speed controller through a low-pass filter, the low-pass filter is used for filtering an actual rotating speed estimation value obtained by the rotating speed observer to obtain a filtered rotating speed estimation value, the filtered rotating speed estimation value is sent to the speed controller 403, and the speed controller 403 obtains an expected input current of a current loop of the motor according to the filtered rotating speed estimation value and an expected speed instruction.
For specific limitation of the control device for the spindle rotation speed, reference may be made to the above limitation on the processing method of the touch operation of the display device, and details are not described herein again.
In the embodiment of the application, the sewing machine comprises a motor, a main shaft connected with the motor and the control device for the rotating speed of the main shaft.
In an embodiment of the present application, a readable storage medium is further provided, and the readable storage medium is used for storing a computer program, and the computer program is used for implementing the control method of the spindle rotation speed.
Fig. 5a is a schematic diagram of a spindle speed error when a motor of a sewing machine is controlled by using the above-mentioned spindle speed control method according to an embodiment of the present application, and fig. 5b is a schematic diagram of a spindle speed error when a motor of a sewing machine is not controlled by using the above-mentioned spindle speed control method in the prior art, where an abscissa represents time and an ordinate represents a spindle speed.
In the present embodiment, the type of sewing machine used is a pattern sewing machine, and the load moment of inertia J is 2.8 × 10- 4kg·m2The phase resistance R of the spindle motor is 1.175 Ω, and the q-axis inductance L of the motorq7.25mH, motor thrust coefficient Kt0.35Nm/A, 0 viscosity coefficient of friction B, KP＝1.2，KI＝60，K′P＝0.35，K′I＝50，ts＝0.0001s，KL＝0.6。
It is to be understood that the various numerical references referred to in the embodiments of the present application are merely for convenience of description and distinction and are not intended to limit the scope of the embodiments of the present application. In the embodiment of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for controlling the rotation speed of a main shaft is characterized by being applied to a sewing machine, and the method comprises the following steps:
acquiring the rotating speed of a motor of the sewing machine, and acquiring a load moment disturbance estimation value of the motor according to a load torque observation model;
acquiring an actual rotating speed estimated value of the motor according to a rotating speed observation model and the load moment disturbance estimated value;
and controlling the motor to output a corresponding rotating speed to a main shaft of the sewing machine according to the load moment disturbance estimated value and the actual rotating speed estimated value.
2. The method for controlling the rotation speed of the spindle according to claim 1, wherein the rotation speed of the motor comprises an actual rotation speed and an actual observed rotation speed of the motor, and the obtaining the rotation speed of the motor and the obtaining the load torque disturbance estimation value of the motor according to the load torque observation model comprises:
acquiring the actual rotating speed of the motor and the actual observed rotating speed at the initial moment;
and acquiring a load moment disturbance estimation value of the motor according to the load torque observation model, the actual rotating speed of the motor and the actual observed rotating speed of the motor at the initial moment.
3. The method of controlling the rotation speed of the main shaft according to claim 2, wherein the load torque observation model is:
in the above formula, the first and second carbon atoms are,
as an estimate of the disturbance of the load moment, KpTo proportional gain, KIFor integral gain, J is the principal axis moment of inertia, l2For a predetermined parameter, ωrIn order to be the actual rotational speed,
in order to actually observe the rotation speed,
is an integral expression.
4. The method for controlling the rotation speed of the spindle according to claim 3, wherein the obtaining an actual rotation speed estimation value of the motor according to the rotation speed observation model and the load moment disturbance estimation value comprises:
acquiring the actual output torque of the motor;
and acquiring an actual rotating speed estimated value of the motor according to the actual output torque, the rotating speed observation model and the load torque disturbance estimated value.
5. The method for controlling the rotation speed of the main shaft according to claim 4, wherein the rotation speed observation model is:
in the above formula, the first and second carbon atoms are,
is the k-th actual rotation speed estimated value, J is the main shaft rotational inertia, tsIs the sampling period of the current loop of the motor, B is the damping coefficient, TeIn order to actually output the torque,
in order to estimate the disturbance of the load moment,
the k-1 th actual rotating speed estimated value is obtained.
6. The method for controlling the rotation speed of the main shaft according to claim 5, wherein the controlling the motor to output the corresponding rotation speed to the main shaft according to the estimated value of the load moment disturbance and the estimated value of the actual rotation speed comprises:
acquiring a current compensation value of a current loop of the motor according to the load moment disturbance estimation value;
filtering the actual rotating speed estimated value to obtain a filtered rotating speed estimated value;
and controlling the motor to output the rotating speed to the main shaft according to the current compensation value and the filtered rotating speed estimation value.
7. The method of claim 6, wherein the controlling the motor to output a rotational speed to the spindle based on the current compensation value and the filtered rotational speed estimate comprises:
obtaining an expected input current of a current loop of the motor according to an expected speed instruction of the motor and the filtered rotating speed estimated value;
obtaining the actual output torque of the motor according to the expected input current of the current loop and the current compensation value;
and controlling the motor to output a corresponding rotating speed to the main shaft according to the actual output torque.
8. A control device for the rotating speed of a main shaft is characterized by comprising a load torque observer, a rotating speed observer, a speed controller and a current controller;
the load torque observer is used for acquiring a load torque disturbance estimation value of a motor of the sewing machine;
the rotating speed observer is used for acquiring an actual rotating speed estimation value of the motor;
the speed controller is used for outputting expected input current of a current loop to the current controller according to the actual rotating speed estimated value;
the current controller is used for outputting actual output torque to the motor so as to control the motor to output corresponding rotating speed to the main shaft of the sewing machine.
9. A sewing machine, comprising: the control device of the spindle rotating speed is used for executing the control method of the spindle rotating speed according to any one of claims 1 to 7.
10. A readable storage medium for storing a computer program for implementing the method of controlling spindle rotational speed according to any one of claims 1 to 7.
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| CN106208865A (en) * | 2016-08-10 | 2016-12-07 | 天津工业大学 | Many permagnetic synchronous motors Virtual-shaft control method based on Load Torque Observer |
| CN109412491A (en) * | 2018-09-25 | 2019-03-01 | 江苏理工学院 | A kind of permanent magnet synchronization motor spindle Direct Torque Velocity Modulation System and method based on double sliding form control |
| CN109787528A (en) * | 2019-02-28 | 2019-05-21 | 南京理工大学 | Asynchronous motor direct torque control system and method based on rotational speed regulation duty ratio |
| CN111342719A (en) * | 2020-01-17 | 2020-06-26 | 华中科技大学 | Control method of asynchronous motor driven by non-speed sensor |
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| CN106208865A (en) * | 2016-08-10 | 2016-12-07 | 天津工业大学 | Many permagnetic synchronous motors Virtual-shaft control method based on Load Torque Observer |
| CN109412491A (en) * | 2018-09-25 | 2019-03-01 | 江苏理工学院 | A kind of permanent magnet synchronization motor spindle Direct Torque Velocity Modulation System and method based on double sliding form control |
| CN109787528A (en) * | 2019-02-28 | 2019-05-21 | 南京理工大学 | Asynchronous motor direct torque control system and method based on rotational speed regulation duty ratio |
| CN111342719A (en) * | 2020-01-17 | 2020-06-26 | 华中科技大学 | Control method of asynchronous motor driven by non-speed sensor |
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