CN111965969A - Double closed-loop anti-interference PID control method and system for speed and position of direct current motor - Google Patents
Double closed-loop anti-interference PID control method and system for speed and position of direct current motor Download PDFInfo
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Abstract
The invention discloses a direct current motor speed-position double closed-loop anti-interference PID control method and a system, relating to the technical field of direct current motor control, wherein a position loop anti-interference PD controller formula and a speed loop anti-interference PI controller formula are respectively established, wherein the display regulation relations among position loop anti-interference PD controller gain, a first integral coefficient, position loop anti-interference capability and position loop closed-loop response speed are respectively established; the position loop anti-interference PD controller gain determines the position loop anti-interference capability, the first integral coefficient determines the position loop closed-loop response speed, the speed loop anti-interference PI controller gain determines the speed loop anti-interference capability, and the second integral coefficient determines the speed loop closed-loop response speed. The invention can improve the control precision of the direct current motor.
Description
Technical Field
The invention relates to the technical field of direct current motor control, in particular to a direct current motor speed-position double-closed-loop anti-interference PID control method and system.
Background
The direct current motor has the characteristics of simple structure, reliable operation, convenient maintenance and the like, and is widely applied to industrial systems, such as robots, numerical control machines, power systems and the like. In the operation process of the control system, the control system is easily influenced by various disturbances, such as power supply fluctuation, load fluctuation, parameter change and the like, so that the control performance of the direct current motor is greatly influenced. Therefore, the method overcomes the disturbance influence and plays an important role in improving the control precision of the direct current motor.
Currently, a typical form of dc motor servo system is speed-position double closed loop control, which involves a speed controller design and a position controller design. In industrial application, a direct current motor control system generally adopts a PID controller to adjust speed (rotating speed) and position, and parameter setting of the PID controller is mainly adjusted based on engineering experience parameters of a designer or parameter design is carried out by using an algorithm based on a system model. The two modes rarely consider the anti-interference performance of the PID controller, so that the control performance is reduced when the motor system is influenced by uncertainty or external disturbance. In academic research, methods such as robust control, adaptive control, intelligent control and the like are frequently adopted to design a high-order controller and a nonlinear controller to replace a PID (proportion integration differentiation) controller so as to overcome disturbance influence and improve the control precision of the direct current motor. However, because the dynamic characteristics of the speed adjustment and the position adjustment of the dc motor have a large difference, for example, the speed adjustment process can be represented by a stable transfer function, while the position adjustment process has an obvious critical stable integral characteristic, and the design methods of the high-order controller and the nonlinear controller are complicated and difficult to be applied in engineering.
Disclosure of Invention
The invention aims to provide a speed-position double-closed-loop anti-interference PID control method and system of a direct current motor so as to improve the control precision of the direct current motor.
In order to achieve the purpose, the invention provides the following scheme:
a speed-position double closed-loop anti-interference PID control method for a direct current motor comprises the following steps:
acquiring a set expected angle position value;
filtering the set expected angle position value to obtain a filtered set expected angle position value;
acquiring an actual measurement angle position value;
comparing the filtered set expected angle position value with the actual measured angle position value to obtain a position tracking error value;
determining a set expected speed value according to the position tracking error; the method specifically comprises the following steps: according to uy(s)＝CPD(s)ey(s) calculating a set desired velocity value uy(s); wherein the content of the first and second substances,
CPD(s) position loop anti-interference PD controller, KPDFor position loop immunity PD controller gain, omegaDIs the first integral coefficient, s is a complex frequency domain variable commonly used in control theory, ey(s) is the position tracking error;
acquiring an actual measured rotating speed value;
comparing the set expected speed value with the actually measured rotating speed value to obtain a speed tracking error;
determining a voltage amount according to the speed tracking error; the method specifically comprises the following steps: according to un(s)＝CPI(s)en(s) calculating the voltage quantity un(s); wherein the content of the first and second substances,
CPI(s) is a speed loop anti-interference PI controller, KPIFor speed loop immunity PI controller gain, omegaIIs the second integral coefficient, s is a complex frequency domain variable commonly used in control theory, en(s) is the velocity tracking error;
and outputting the voltage quantity to a direct current motor, and carrying out rotation speed regulation and angle position regulation on the direct current motor according to the voltage quantity.
Optionally, the filtering the set desired angle position value to obtain a filtered set desired angle position value specifically includes:
according to
Calculating a filtered set desired angular position value
Wherein the content of the first and second substances,
Fy(s) is a filter, ωfFor filter bandwidth, s is a complex frequency domain variable commonly used in control theory, y*(s) is to set a desired angular position value.
Optionally, the comparing the filtered set expected angle position value with the actual measured angle position value to obtain a position tracking error value specifically includes:
according to
Calculating a position tracking error value ey(s); wherein the content of the first and second substances,
for the filtered set desired angular position values, y(s) are the actual measured angular position values, and s is a complex frequency domain variable commonly used in control theory.
Optionally, the comparing the set expected speed value with the actual measured rotating speed value to obtain a speed tracking error specifically includes:
according to en(s)＝uy(s) -n(s) calculating the velocity tracking error en(s); wherein u isy(s) is set expected speed value, n(s) is actual measured rotating speed value, and s is complex frequency domain variable commonly used in control theory.
Optionally, the second integral coefficient is greater than or equal to the first integral coefficient.
The invention also provides the following scheme:
a DC motor speed-position double closed-loop anti-interference PID control system comprises a filter, a first comparator, a position loop anti-interference PD controller, a second comparator and a speed loop anti-interference PI controller;
the filter is used for filtering the input set expected angle position value and outputting the filtered set expected angle position value;
the first comparator is connected to the filter, and is configured to compare the input filtered set desired angular position value with the actual measured angular position value, and output a position tracking error value;
the position ring anti-interference PD controller is connected with the first comparator and used for determining a set expected speed value according to the position tracking error; the method specifically comprises the following steps: according to uy(s)＝CPD(s)ey(s) calculating a set desired velocity value uy(s); wherein the content of the first and second substances,
CPD(s) position loop anti-interference PD controller, KPDFor position loop immunity PD controller gain, omegaDIs the first integral coefficient, s is a complex frequency domain variable commonly used in control theory, ey(s) is the position tracking error;
the second comparator is connected with the position loop anti-interference PD controller and used for comparing the input set expected speed value with the actual measured rotating speed value and outputting a speed tracking error value;
the speed loop anti-interference PI controller is respectively connected with the second comparator and the direct current motor and used for determining a voltage quantity according to the speed tracking error; the method specifically comprises the following steps: according to un(s)＝CPI(s)en(s) calculating the voltage quantity un(s); wherein the content of the first and second substances,
CPI(s) is a speed loop anti-interference PI controller, KPIFor speed loop immunity PI controller gain, omegaIIs the second integral coefficient, s is a complex frequency domain variable commonly used in control theory, en(s) is the velocity tracking error; and outputting the voltage quantity to a direct current motor, and carrying out rotation speed regulation and angle position regulation on the direct current motor according to the voltage quantity.
Optionally, the filter specifically includes:
a filtering unit for filtering the signal according to
Calculating a filtered set desired angular position value
Wherein the content of the first and second substances,
Fy(s) is a filter, ωfFor filter bandwidth, s is a complex frequency domain variable commonly used in control theory, y*(s) is to set a desired angular position value.
Optionally, the first comparator specifically includes:
a first comparison unit for comparing the first and second signals according to
Calculating a position tracking error value ey(s); wherein the content of the first and second substances,
for the filtered set desired angular position values, y(s) are the actual measured angular position values, and s is a complex frequency domain variable commonly used in control theory.
Optionally, the second comparator specifically includes:
a second comparison unit for comparing according to en(s)＝uy(s) -n(s) calculating the velocity tracking error en(s); wherein u isy(s) is set expected speed value, n(s) is actual measured rotating speed value, and s is complex frequency domain variable commonly used in control theory.
Optionally, the first integral coefficient is smaller than or equal to the second integral coefficient.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a direct current motor speed-position double closed-loop anti-interference PID control method and a system, which respectively establish a position loop anti-interference PD controller formula, a speed loop anti-interference PI controller formula, and a display regulation relation among position loop anti-interference PD controller gain, a first integral coefficient, position loop anti-interference capability and position loop closed-loop response speed; because the position ring anti-interference PD controller gains to determine the anti-interference capability of the position ring, the first integral coefficient determines the closed-loop response speed of the position ring, the speed ring anti-interference PI controller gains to determine the anti-interference capability of the speed ring, and the second integral coefficient determines the closed-loop response speed of the speed ring, the PID controller has active anti-interference capability, can quickly overcome disturbance influence, improves the control precision of the direct current motor, is simple and convenient to use, brings convenience for the design of a direct current motor control system, and can be widely applied to engineering.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of an embodiment 1 of the double closed-loop anti-interference PID control method for DC motor speed-position according to the present invention;
fig. 2 is a schematic diagram of a control process of speed-position double closed-loop anti-interference PID control in embodiment 2 of the dc motor speed-position double closed-loop anti-interference PID control method of the present invention;
FIG. 3 is a graph of the single loop control effect of the velocity ring of the present invention;
FIG. 4 is a diagram illustrating the effect of dual closed loop angle control according to the present invention;
FIG. 5 is a diagram of the disturbance suppression effect of the dual closed-loop control of the DC motor according to the present invention;
fig. 6 is a structural diagram of the speed-position dual closed-loop anti-interference PID control system of the dc motor of embodiment 3 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
The invention aims to provide a speed-position double-closed-loop anti-interference PID control method and system of a direct current motor so as to improve the control precision of the direct current motor.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1:
fig. 1 is a flowchart of an embodiment 1 of the speed-position double closed-loop anti-interference PID control method of the dc motor according to the present invention. Referring to fig. 1, the speed-position double closed-loop anti-interference PID control method of the dc motor includes:
step 101: a set desired angular position value is obtained.
Step 102: and filtering the set expected angle position value to obtain a filtered set expected angle position value.
The step 102 specifically includes:
according to
Calculating a filtered set desired angular position value
Wherein the content of the first and second substances,
Fy(s) is a filter, ωfFor filter bandwidth, s is a complex frequency domain variable commonly used in control theory, y*(s) is to set a desired angular position value.
Step 103: and acquiring an actual measured angle position value.
Step 104: and comparing the filtered set expected angle position value with the actual measured angle position value to obtain a position tracking error value.
The step 104 specifically includes:
according to
Calculating a position tracking error value ey(s); wherein the content of the first and second substances,
for the filtered set desired angular position values, y(s) are the actual measured angular position values, and s is a complex frequency domain variable commonly used in control theory.
Step 105: determining a set expected speed value according to the position tracking error; the method specifically comprises the following steps: according to uy(s)＝CPD(s)ey(s) calculating a set desired velocity value uy(s); wherein the content of the first and second substances,
CPD(s) position loop anti-interference PD controller, KPDFor position loop immunity PD controller gain, omegaDIs the first integral coefficient, s is a complex frequency domain variable commonly used in control theory, ey(s) is the position tracking error.
Step 106: and acquiring an actual measured rotating speed value.
Step 107: and comparing the set expected speed value with the actually measured rotating speed value to obtain a speed tracking error.
The step 107 specifically includes:
according to en(s)＝uy(s) -n(s) calculating the velocity tracking error en(s); wherein u isy(s) is set expected speed value, n(s) is actual measured rotating speed value, and s is complex frequency domain variable commonly used in control theory.
Step 108: determining a voltage amount according to the speed tracking error; the method specifically comprises the following steps: according to un(s)＝CPI(s)en(s) calculating the voltage quantity un(s); wherein the content of the first and second substances,
CPI(s) is a speed loop anti-interference PI controller, KPIFor speed loop immunity PI controller gain, omegaIIs the second integral coefficient, s is a complex frequency domain variable commonly used in control theory, en(s) is the velocity tracking error.
In this step 108, the second integral coefficient is equal to or greater than the first integral coefficient.
Step 109: and outputting the voltage quantity to a direct current motor, and carrying out rotation speed regulation and angle position regulation on the direct current motor according to the voltage quantity.
Example 2:
fig. 2 is a schematic diagram of a control process of speed-position double closed-loop anti-interference PID control in embodiment 2 of the method for controlling speed-position double closed-loop anti-interference PID of a dc motor according to the present invention. Referring to fig. 2, in the method for controlling the speed-position double closed-loop anti-interference PID of the dc motor, the control process of the speed-position double closed-loop control specifically includes:
setting a desired angular position y*(s) passing through a filter Fy(s) comparing the measured position with the actual measured position y(s) to form a position tracking error ey(s) through the disturbance rejection PD controller CPDAfter(s), the desired velocity value u is obtainedy(s) comparing with the actual measured speed n(s) to form a speed tracking error en(s) through an anti-interference PI controller CPIAfter(s), the controlled quantity u is formedn(s) (voltage amount), finally forming the speed regulation and position regulation of the direct current motor.
The double closed-loop anti-interference PID control method for the speed and the position of the direct current motor specifically comprises the following steps:
step 1: the speed controller of the direct current motor is selected as a PI controller, and the designed speed loop anti-interference PI controller has the following form:
wherein, KPIFor PI controller gain, satisfy KPI＞0；ωIIs an integral coefficient, satisfies omegaI＞0；ωIDetermining the response speed of the closed loop; s is a complex frequency domain variable commonly used in control theory.
The speed regulation process of the direct current motor can be approximated to a first order system. Correspondingly, the PI controller is suitable for speed regulation of the direct current motor, has active disturbance rejection capability and gives omegaIThen, only gradually increase KPIThe anti-interference capability can be enhanced, and the speed closed-loop system approaches to a class of transfer functions without overshoot
At this time omegaIThe closed loop response speed is determined.
Step 2: adjusting parameters of the PI controller specifically comprises the following steps:
step 2.1: in a PI controller, ωIRepresenting the response speed, ω, of a closed-loop system of speedIThe larger the motor speed response. Velocity tracking error en(s) can be approximately expressed as
Selecting omega according to the expected requirement of the motor speed response rapidityIFor example, if the motor is expected to reach steady state (within 2% error) within 1s, then there is
Has omegaI≥3.912。
In this embodiment, it is desirable that the speed loop response speed be sufficiently fast, so ω is setI＝10。
Step 2.2: in a PI controller, KPIDetermining the tracking and anti-interference capability of the speed loop; kPIThe larger the tracking capacity is, the stronger the anti-interference capacity is; kPIIs a gradually increasing adjusting process, and gradually increases K according to actual needsPIUntil the response performance meets the design objective. For example, given an initial KPI0.001, thenGradually increase KPIUntil the response speed and the disturbance rejection capability reach the desired performance.
In this embodiment, from KPIStarting at 0, K is increased stepwisePIFinally, K is determinedPIA resulting speed loop PI controller of 0.2 is
FIG. 3 shows the single loop control effect of the speed loop, set at 300rpm, at CPIAnd(s) the controller enables the direct current motor to reach the set rotating speed within 0.5s, and the response speed is high.
And step 3: selecting a position ring controller of the direct current motor as a PD controller, wherein the designed position ring anti-interference PD controller has the following form:
CPD(s)＝KPD(s+ωD)
wherein KPDFor PD controller gain, satisfy KPD＞0；ωDIs an integral coefficient, satisfies omegaD＞0，ωDThe coefficient that determines the closed loop response speed. The reason for this is that the position control process of the dc motor has an integral characteristic, i.e. given an input signal, the motor will keep rotating and its position will continue to increase. The position adjustment process may be approximated as a first order system series integral factor. Therefore, the position loop controller of the direct current motor can realize the non-static tracking without integration. In the design, the integral factor of the system is considered as a part of the controller, and therefore the PD controller is designed as:
similar to the PI controller in step 1, CPD(s) internally containing a PI controller with active disturbance rejection capability; given ωDThen, only gradually increase KPDThe anti-interference capability can be enhanced, and the position closed-loop system is similar to a class of transfer function without overshoot
At this time omegaDThe closed loop response speed is determined.
And 4, step 4: adjusting parameters of the PD controller specifically comprises:
step 4.1: in the PD controller, ωDIndicating the response speed, ω, of the position closed loop systemDThe larger the motor position response. Selecting omega according to the expected requirement of motor position response rapidityDAnd ω isD≤ωI. Position tracking error ey(s) can be approximately expressed as
Selecting omega according to the expected requirement of the motor speed response rapidityDFor example, if the motor is expected to reach steady state (within 2% error) within 1s, then there is
Has omegaDNot less than 3.912. Since the speed control is located in the inner loop, which responds faster than the outer loop, ω is chosenD≤ωI。
In this embodiment, it is desirable that the position loop response speed of the dc motor be fast enough, but meet ωD≤ωIThus selecting ωD＝7。
Step 4.2: in the PD controller, KPDDetermining the tracking and anti-interference capability of the position ring; kPDThe larger the tracking capacity is, the stronger the anti-interference capacity is; increasing K step by step according to actual needsPDUntil the response performance meets the design objective. For example, given an initial KPD0.001, then increasing K graduallyPDUntil the response speed and the disturbance rejection capability reach the desired performance.
In this embodiment, from KPDStarting at 0 and increasing stepwise to KPD0.1, the resulting position loop PD controller is CPD(s) ═ 0.1(s + 7). Fig. 4 shows the effect of the double closed loop angle control, setting the dc motor to rotate 5 turns (1800 °), and it can be seen that the dc motor runs at the maximum rotation speed after 0.2s, starts to decelerate when reaching around 1500 °, and reaches the desired angle position after 1.5 s.
And 5: if there is overshoot in the system output response, i.e., the system output is greater than the set point, the input filter of the position loop is added:
wherein ω isfFor filter bandwidth, select ωf＞ωD(ii) a s represents a complex variable, a common form of frequency domain representation of the automatic control principle. If there is no overshoot, Fy(s) ═ 1. At this time, the position control shown in FIG. 4 is not overshot, and F is takeny(s) ═ 1. The filter is mainly matched with the PD controller in function, the filter is responsible for solving overshoot, and the PD controller is responsible for solving the problems of interference rejection and tracking.
In order to verify the double closed-loop disturbance suppression effect, when the dc motor is running, the input disturbance to the dc motor 2V, that is, the disturbance d is 2V. Fig. 5 shows the disturbance suppression effect of the double closed-loop control of the dc motor. When the direct current motor works at the angle position of 0 degree, 2V disturbance is suddenly generated at the input end, and then the rotation speed change and the angle change of the direct current motor are generated. Under the action of double closed-loop control, the rotating speed is adjusted to a negative value, so that the angle of the direct current motor is quickly adjusted back, and after 2.5s, the rotating angle of the motor returns to 0 position. It can be seen that the double closed loop anti-interference PID control method for the speed and the position of the direct current motor has obvious anti-interference effect and excellent control performance.
Aiming at the problem of interference resistance design of a direct current motor speed-position double closed-loop control system, the invention introduces a speed loop interference resistance PI and a position loop interference resistance PD design in a typical direct current motor speed-position control double closed-loop structure, and establishes an explicit relation between speed control performance, position control performance and PID controller parameters, so that the PID controller has active interference resistance, the design of a direct current motor control system is facilitated, and the control performance can be effectively improved.
Example 3:
fig. 6 is a structural diagram of the speed-position dual closed-loop anti-interference PID control system of the dc motor of embodiment 3 of the present invention. Referring to fig. 6, the dc motor speed-position dual closed loop immunity PID control system includes a filter 601, a first comparator 602, a position loop immunity PD controller 603, a second comparator 604, and a speed loop immunity PI controller 605.
The filter 601 is configured to filter the input set desired angle position value and output the filtered set desired angle position value.
The filter 601 specifically includes:
a filtering unit for filtering the signal according to
Calculating a filtered set desired angular position value
Wherein the content of the first and second substances,
Fy(s) is a filter, ωfFor filter bandwidth, s is a complex frequency domain variable commonly used in control theory, y*(s) is to set a desired angular position value.
The first comparator 602 is connected to the filter 601, and the first comparator 602 is configured to compare the input filtered set desired angular position value with the actual measured angular position value, and output a position tracking error value.
The first comparator 602 specifically includes:
a first comparison unit for comparing the first and second signals according to
Calculating a position tracking error value ey(s); wherein the content of the first and second substances,
for the filtered set desired angular position values, y(s) are the actual measured angular position values, and s is a complex frequency domain variable commonly used in control theory.
The position loop immunity PD controller 603 compares with the first comparisonThe device 602 is connected, and the position loop disturbance rejection PD controller 603 is configured to determine a set desired speed value according to the position tracking error; the method specifically comprises the following steps: according to uy(s)＝CPD(s)ey(s) calculating a set desired velocity value uy(s); wherein the content of the first and second substances,
CPD(s) position loop anti-interference PD controller, KPDFor position loop immunity PD controller gain, omegaDIs the first integral coefficient, s is a complex frequency domain variable commonly used in control theory, ey(s) is the position tracking error.
The second comparator 604 is connected to the position loop immunity PD controller 603, and the second comparator 604 is configured to compare the input set desired speed value with the input actual measured rotation speed value, and output a speed tracking error value.
The second comparator 604 specifically includes:
a second comparison unit for comparing according to en(s)＝uy(s) -n(s) calculating the velocity tracking error en(s); wherein u isy(s) is set expected speed value, n(s) is actual measured rotating speed value, and s is complex frequency domain variable commonly used in control theory.
The speed loop anti-interference PI controller 605 is respectively connected to the second comparator 604 and the dc motor, and the speed loop anti-interference PI controller 605 is configured to determine a voltage amount according to the speed tracking error; the method specifically comprises the following steps: according to un(s)＝CPI(s)en(s) calculating the voltage quantity un(s); wherein the content of the first and second substances,
CPI(s) is a speed loop anti-interference PI controller, KPIFor speed loop immunity PI controller gain, omegaIIs a second integral coefficient which is more than or equal to the first integral coefficient, s is a complex frequency domain variable commonly used in the control theory, en(s) is the velocity tracking error; and outputting the voltage quantity to a direct current motor, and carrying out rotation speed regulation on the direct current motor according to the voltage quantityPitch and angular position adjustment. The relation between the angle position and the voltage is indirect, the position ring is arranged outside, the set value of the speed ring is determined, the speed is controlled by the inner ring, the actual speed tracking is ensured, the direct current motor rotates, and the corresponding angle change can be generated when the rotating speed exists.
The direct current motor speed-position double closed-loop anti-interference PID control system is a double closed-loop system comprising a PI speed controller and a PD angle controller, and a set position after filtering is obtained by giving the set position, namely an expected position, and passing through a filter 601 link. The position loop disturbance rejection PD controller 603 outputs a speed setting value by tracking the position according to the filtered set position and the actual motor position. The speed of the direct current motor is measured by an encoder, assuming that each circle of the encoder has m pulse signals, each corresponding pulse is 360/m degrees, if the number of counted pulses per second is p, and the speed unit adopts rpm (revolution per minute), the speed calculation expression is as follows:
the angular position output of the direct current motor is realized by adopting the pulse calculation of an encoder: if the number of counted pulses in the rotation process is j, the corresponding angle position is
In the rotation speed to angle calculation, a constant ratio k of 60 exists. The actual measurement of the rotating speed and the angle position is realized by two independent sensors, which can be encoders or other sensors, and finally, the speed value and the angle value can be obtained.
The invention discloses a method and a system for controlling the speed-position double closed-loop anti-interference PID of a direct current motor, which enable the PID parameters to have an explicit regulation relation with the speed control performance and the position control performance of the direct current motor, and have the active anti-interference characteristic. The present invention provides an explicit regulation relation, which is more convenient and simpler to use, and solves the problem that a PID design method which is suitable for speed regulation and position regulation and has active disturbance rejection capability is absent in the design of a DC motor control system at present.
Compared with the existing PID double closed-loop control of the direct current motor, the invention has the advantages that:
1. the specific structure of the speed loop anti-interference PI controller is provided
I.e. gain at KPIIs the overall gain of the PI controller,
the core of the PI controller determines the weights of P and I. A conventional motor control PI controller is generally used
2. A specific structure of a speed loop PI controller is provided
The matched parameter adjusting method is that omega is selected according to the response speed expected by the userIFor example, if a fast response speed is desired, ω can be chosenIIs more than 1, and omega can be selected if the response speed is required to be slowI＜1。ωIThe larger the response speed is, the faster the response speed is, and an engineer can select omega according to the rule and self experience (grasp on speed and slow speed)I. If the response process is too fast, ω can be reducedIAnd vice versa. KPICan then start from a very small value, e.g. KPIAnd (5) gradually increasing until the system performance meets the requirement.
3. The given speed loop PI controller form and parameter regulation rule make the controller have active anti-interference ability, and establish the relation between closed-loop control performance and controller parameter regulation, which is conventionalThe PI controller is not available. E.g. ωIThe response speed is determined; kPIDetermines the immunity of the system.
4. The specific structure of the position ring anti-interference PD controller is given
I.e. gain at KPDIs the overall gain of the PD controller, s + omegaDIs the kernel of the PD controller, which determines the weights of P and D. Conventional motor-controlled PD controller, generally CPD(s)＝kp+kds, or some with PID.
5. A specific structure of a PD controller with position ring interference resistance is provided
The matched parameter adjusting method is that omega is selected according to the response speed expected by the userDFor example, if a fast response speed is desired, ω can be chosenDIs more than 1, and omega can be selected if the response speed is required to be slowD＜1。ωDThe larger the response speed is, the faster the response speed is, and an engineer can select omega according to the rule and self experience (grasp on speed and slow speed)D. If the response process is too fast, ω can be reducedDAnd vice versa. KPDCan then start from a very small value, e.g. KPDAnd (5) gradually increasing until the system performance meets the requirement.
6. Selecting omegaD≤ωISo that the inner loop responds faster than the outer loop.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A double closed-loop anti-interference PID control method for speed-position of a direct current motor is characterized by comprising the following steps:
acquiring a set expected angle position value;
filtering the set expected angle position value to obtain a filtered set expected angle position value;
acquiring an actual measurement angle position value;
comparing the filtered set expected angle position value with the actual measured angle position value to obtain a position tracking error value;
determining a set expected speed value according to the position tracking error; the method specifically comprises the following steps: according to uy(s)＝CPD(s)ey(s) calculating a set desired velocity value uy(s); wherein the content of the first and second substances,
CPD(s) position loop anti-interference PD controller, KPDFor position loop immunity PD controller gain, omegaDIs the first integral coefficient, s is a complex frequency domain variable commonly used in control theory, ey(s) is the position tracking error;
acquiring an actual measured rotating speed value;
comparing the set expected speed value with the actually measured rotating speed value to obtain a speed tracking error;
determining a voltage amount according to the speed tracking error; the method specifically comprises the following steps: according to un(s)＝CPI(s)en(s) calculating the voltage quantity un(s); wherein the content of the first and second substances,
CPI(s) is a velocity ringAnti-interference PI controller, KPIFor speed loop immunity PI controller gain, omegaIIs the second integral coefficient, s is a complex frequency domain variable commonly used in control theory, en(s) is the velocity tracking error;
and outputting the voltage quantity to a direct current motor, and carrying out rotation speed regulation and angle position regulation on the direct current motor according to the voltage quantity.
2. The method according to claim 1, wherein the filtering is performed on the set desired angular position value to obtain a filtered set desired angular position value, and specifically includes:
according to
Calculating a filtered set desired angular position value
Wherein the content of the first and second substances,
Fy(s) is a filter, ωfFor filter bandwidth, s is a complex frequency domain variable commonly used in control theory, y*(s) is to set a desired angular position value.
3. The method according to claim 1, wherein the comparing the filtered set desired angular position value with the actual measured angular position value to obtain a position tracking error value specifically comprises:
according to
Calculating a position tracking error value ey(s); wherein the content of the first and second substances,
for the filtered set desired angular position values, y(s) are the actual measured angular position values, and s is a complex frequency domain variable commonly used in control theory.
4. The method according to claim 1, wherein the comparing the set desired speed value with the actual measured rotational speed value to obtain a speed tracking error specifically comprises:
according to en(s)＝uy(s) -n(s) calculating the velocity tracking error en(s); wherein u isy(s) is set expected speed value, n(s) is actual measured rotating speed value, and s is complex frequency domain variable commonly used in control theory.
5. The direct current motor speed-position dual closed-loop anti-disturbance PID control method according to claim 1, characterized in that the second integral coefficient is equal to or greater than the first integral coefficient.
6. A DC motor speed-position double closed-loop anti-interference PID control system is characterized by comprising a filter, a first comparator, a position loop anti-interference PD controller, a second comparator and a speed loop anti-interference PI controller;
the filter is used for filtering the input set expected angle position value and outputting the filtered set expected angle position value;
the first comparator is connected to the filter, and is configured to compare the input filtered set desired angular position value with the actual measured angular position value, and output a position tracking error value;
the position ring anti-interference PD controller is connected with the first comparator and used for determining a set expected speed value according to the position tracking error; the method specifically comprises the following steps: according to uy(s)＝CPD(s)ey(s) calculating a set desired velocity value uy(s); wherein the content of the first and second substances,
CPD(s) position loop anti-interference PD controller, KPDFor position loop immunity PD controller gain, omegaDIs the first integral coefficient, s is a complex frequency domain variable commonly used in control theory, ey(s) is the position tracking error;
the second comparator is connected with the position loop anti-interference PD controller and used for comparing the input set expected speed value with the actual measured rotating speed value and outputting a speed tracking error value;
the speed loop anti-interference PI controller is respectively connected with the second comparator and the direct current motor and used for determining a voltage quantity according to the speed tracking error; the method specifically comprises the following steps: according to un(s)＝CPI(s)en(s) calculating the voltage quantity un(s); wherein the content of the first and second substances,
CPI(s) is a speed loop anti-interference PI controller, KPIFor speed loop immunity PI controller gain, omegaIIs the second integral coefficient, s is a complex frequency domain variable commonly used in control theory, en(s) is the velocity tracking error; and outputting the voltage quantity to a direct current motor, and carrying out rotation speed regulation and angle position regulation on the direct current motor according to the voltage quantity.
7. The system according to claim 6, wherein the filter specifically comprises:
a filtering unit for filtering the signal according to
Calculating a filtered set desired angular position value
Wherein the content of the first and second substances,
Fy(s) is a filter, ωfFor filter bandwidth, s is a complex frequency domain variable commonly used in control theory, y*(s) is to set a desired angular position value.
8. The system according to claim 6, wherein the first comparator specifically comprises:
a first comparison unit for comparing the first and second signals according to
Calculating a position tracking error value ey(s); wherein the content of the first and second substances,
for the filtered set desired angular position values, y(s) are the actual measured angular position values, and s is a complex frequency domain variable commonly used in control theory.
9. The system according to claim 6, wherein the second comparator comprises:
a second comparison unit for comparing according to en(s)＝uy(s) -n(s) calculating the velocity tracking error en(s); wherein u isy(s) is set expected speed value, n(s) is actual measured rotating speed value, and s is complex frequency domain variable commonly used in control theory.
10. The DC motor speed-position dual closed-loop anti-jamming PID control system of claim 6, wherein the second integral coefficient is equal to or greater than the first integral coefficient.
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