CN112234904A - Servo motor speed control method - Google Patents
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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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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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Abstract
The invention relates to a speed control method of a servo motor, and belongs to the field of servo control. In order to solve the problems that the PID control algorithm of the traditional servo driver cannot give consideration to both the speed tracking performance and the load disturbance inhibition performance, and the control algorithm of a high-end servo driver is complex, a pre-low-pass filter is added on the basis of the PI control algorithm to form an improved PI control algorithm; and a proportional gain coefficient K is configured by adopting an automatic parameter setting method or a manual parameter setting methodpAnd the integral gain coefficient KiThe target tracking performance and the disturbance suppression performance of the system can be optimal, and engineers familiar with PID control can easily master the control algorithm and the parameter setting method.
Description
Technical Field
The invention belongs to the technical field of servo control, and particularly relates to a speed control method of a servo motor.
Background
The traditional servo driver generally adopts a PID control algorithm to control the motor speed, and control parameters cannot give consideration to speed tracking performance and load disturbance inhibition performance, so that ideal control characteristics cannot be obtained; some high-end servo drivers can simultaneously realize two performance targets of speed tracking and load Disturbance rejection by adopting a PID control + Disturbance Observer (DOB) method or adopting an Active Disturbance Rejection Control (ADRC) algorithm, but the two algorithms are not only more complicated than the PID control algorithm, but also have certain defects respectively. The disturbance observer depends on a mathematical model of the motor, parameters such as rotational inertia of the servo system need to be known, and the complexity of the control system is increased by online identification of the rotational inertia parameters. The active disturbance rejection control is a new control algorithm, a simple and mature parameter setting method is not available at present, most control engineers are not familiar with the active disturbance rejection control algorithm, the parameters of the active disturbance rejection controller cannot be or cannot be well set, and the advantages of the active disturbance rejection control algorithm cannot be best played. Therefore, the research on a PI control improved algorithm for simultaneously realizing the target tracking and the external disturbance suppression of the motor speed has important significance.
Disclosure of Invention
Technical problem to be solved
The invention provides a servo motor speed control method, and aims to solve the problems that a PID (proportion integration differentiation) control algorithm of a traditional servo driver cannot give consideration to speed tracking performance and load disturbance suppression performance, an ideal control characteristic cannot be obtained, and a high-end servo driver has a complex control algorithm.
(II) technical scheme
In order to solve the technical problem, the invention provides a speed control method of a servo motor, which comprises the following steps:
s1, adding a front low-pass filter on the basis of the PI control algorithm to form an improved PI control algorithm;
the PI control algorithm is as follows:
the pre-low-pass filter is as follows:
the improved PI control algorithm is applied to an input signal omega*The closed loop transfer function of the servo motor system under the action is as follows:
the PI control algorithm and the improved PI control algorithm are used for controlling the load torque disturbance signal TLThe closed loop transfer function of the servo motor system under the action is as follows:
wherein, KpIs a proportional gain factor, KiIn order to integrate the gain factor,
j is the rotational inertia of the motor, B is the coefficient of friction, K is the speed unit conversion coefficient, K is 1 if the target speed unit is radians per second (rad/s), and K is 1 if the target speed unit is revolutions per minute (rpm)
S2, configuring the proportional gain coefficient K by adopting an automatic parameter setting method or a manual parameter setting methodpAnd the integral gain coefficient KiThe target tracking performance and the disturbance suppression performance of the system can be optimized.
Further, the target tracking performance and the disturbance suppression performance of the improved PI control algorithm are only dependent on the closed-loop transfer function phii(s) and phid(s) pole distribution.
Further, in the step S2, a ratio is configured by using an automatic parameter tuning methodGain factor KpAnd integral gain coefficient KiThe method specifically comprises the following steps:
s211, setting a natural oscillation angular frequency omega according to the response speed requirement of a control systemnThe larger the angular frequency is, the faster the response speed is; (ii) a
S212, the natural oscillation angular frequency omeganDetermining the proportional gain factor KpAnd the integral gain coefficient KiThe parameter calculation formula is as follows:
further, in step S2, a parameter manual tuning method is adopted to configure the proportional gain coefficient KpAnd integral gain coefficient KiThe method specifically comprises the following steps:
s221, the motor controller uses the PI control algorithm firstly, and the proportional gain coefficient KpThe initial value is set as the ratio of rated torque to rated rotation speed, and the integral gain coefficient KiSetting the initial value as 0, and entering the next step;
s222, the proportional gain coefficient KpGradually doubling the initial value, increasing and adjusting, observing the tracking condition of the feedback speed, and when the steady state value of the feedback speed reaches more than 95% of the target speed value, the proportional gain coefficient KpAfter the adjustment is finished, entering the next step;
s223, modifying the motor controller into the improved PI control algorithm, and entering the next step;
s224, the integral gain coefficient KiAnd gradually increasing from 0 to adjust, and finishing parameter adjustment when the feedback speed adjusting time meets the requirement.
(III) advantageous effects
The invention provides a servo motor speed control method, which is characterized in that an improved PI control algorithm is formed by adding a front low-pass filter on the basis of the PI control algorithm; and configuring the proportional gain coefficient K by adopting an automatic parameter setting method or a manual parameter setting methodpAnd the integral increaseCoefficient of benefit KiThe target tracking performance and the disturbance suppression performance of the system can be optimal, and engineers familiar with PID control can easily master the control algorithm and the parameter setting method.
Drawings
FIG. 1 is a block diagram of a motor speed control based on PI algorithm in the prior art;
FIG. 2 is a block diagram of the motor speed control based on the improved PI algorithm of the present invention;
FIG. 3 is a motor speed curve for an automatic parameter tuning method;
fig. 4 is a motor speed curve of the parameter manual setting method.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
1 Motor speed model
The velocity differential equation for the servo motor is:
in the above formula, ω is the motor speed, J is the motor moment of inertia, TeFor electromagnetic torque of the machine, TLIs the load torque, B is the coefficient of friction;
a velocity transfer function of
If the load changes in the running process of the motor, the rotating speed of the motor fluctuates, so that the two targets of target speed tracking and load disturbance suppression need to be considered in the motor speed control, and the target speed can be tracked quickly, stably and accurately.
2 PI control algorithm
The traditional servo driver generally adopts a PID control algorithm to control the speed, but because a differential link can amplify noise, the value of a differential gain coefficient in the speed PID control is small, the differential action is not obvious, and a proportional-integral link mainly plays a main role.
The transfer function of the PI controller is as follows
Wherein KpIs a proportional gain factor, KiIs an integral gain factor.
The motor speed control block diagram based on the PI algorithm is shown in FIG. 1; in FIG. 1,. omega.*K is a speed unit conversion coefficient for a target motor rotation speed, where K is 1 if the target speed unit is radian/second (rad/s) and is a revolution/minute (rpm) unit
To facilitate system analysis, order
The transfer function of the controlled motor is
Input signal omega*The closed loop transfer function of the system under action is
Disturbance signal TLThe closed loop transfer function of the system under action is
In a PI control system, the target tracking performance of the system depends on the distribution of the zero and the pole of a transfer function in an equation 5, the disturbance suppression performance of the system depends on the distribution of the pole of a transfer function in an equation 6, and the zero and the pole cannot be simultaneously configured at an ideal distribution position by adjusting two parameters of proportion and integral; when the system disturbance suppression performance is good, a large integral gain is needed, but the step response of the system is greatly overshot at the moment, and the target tracking performance is deteriorated; therefore, the PI control algorithm cannot achieve two performance goals of "target tracking" and "external disturbance rejection" at the same time.
Improved PI control algorithm
The invention improves the PI control algorithm, and adds a pre-low-pass filter
The input-output transfer function of the improved PI control algorithm is as follows:
a motor speed control system based on the modified PI algorithm is shown in fig. 2.
Input signal omega*Closed loop transfer function of system under action
The control algorithm adds a pre-filter, and zero-pole cancellation is carried out on a filter transfer function (formula 7) and a closed-loop transfer function (formula 5) under the action of an input signal of a PI control system, so that the transfer function of formula 9 has no zero, and the dynamic performance only depends on pole distribution.
The transfer function under the action of the disturbance signal is the same as that of the PI controller, and if the proportional gain coefficient and the integral gain coefficient of the PI controller are consistent, the disturbance suppression performance of the PI controller and the proportional gain coefficient are consistent.
The denominator characteristic polynomials of the closed-loop transfer function (formula 9) under the action of the input signal and the denominator characteristic polynomials of the closed-loop transfer function (formula 6) under the action of the disturbance signal are the same, poles of the two systems are consistent and have no zero, and the target tracking performance and the disturbance rejection performance of the systems are only dependent on the pole distribution of the closed-loop transfer function, so that the target tracking performance and the disturbance rejection performance can be simultaneously considered by improving the PI control algorithm, and when the target tracking performance reaches the best, the disturbance rejection performance also reaches the best.
3.1 automatic parameter setting method
The closed-loop transfer function (formula 9) under the action of the input signal and the closed-loop transfer function (formula 6) under the action of the disturbance signal are both typical second-order systems, and the denominator characteristic polynomials thereof are the same, as shown in the following formula
A(s)＝s2+(a+Kpb)s+Kib (10)
According to a typical second-order system, the natural oscillation angular frequency is
The damping ratio of the secondary system is
As known from an angular frequency formula and a damping ratio formula, two parameters of proportional gain and integral gain determine the response performance of the system, and the integral gain KiThe larger, the angular frequency ωnThe larger the system, the faster the system adjusts, but the smaller the damping ratio ζ, the greater the system oscillations.
The improved PI controller parameter automatic setting method configures a motor speed closed-loop control system as a critical damping system, namely the damping ratio zeta is 1, and a characteristic polynomial is
A(s)＝s2+(a+Kpb)s+Kib＝(s+ωn)2 (11)
The critical damping system has no overshoot, and the target tracking performance and the disturbance suppression performance are controlled by the angular frequency omeganDetermining that the greater the angular frequency, the system responseThe faster the performance, the better.
Setting the angular frequency omega of natural oscillationnIs a specific value;
from the natural oscillation angular frequency omeganDetermining a proportional gain coefficient and an integral gain coefficient, wherein the parameter calculation formula is as follows:
the proportional gain coefficient and the integral gain coefficient are configured according to the method, and the target tracking performance and the disturbance suppression performance of the system can be optimal.
3.2 parameter manual setting method
The improved automatic parameter setting method for the PI controller has the defects that two parameters of rotational inertia and friction coefficient of a motor need to be known, if a motor manufacturer does not provide the parameters, parameter identification needs to be carried out, and the parameter setting difficulty of the PI controller is increased. The invention provides a manual setting method of an improved PI control algorithm, which comprises the following steps of;
1) the motor controller firstly uses a PI control algorithm and a proportional gain coefficient KpThe initial value is set as the ratio of rated torque to rated rotation speed and the integral gain coefficient KiSetting the initial value as 0, and entering the next step;
2) proportional gain factor KpGradually doubling the initial value, increasing and adjusting, observing the tracking condition of the feedback speed, finishing the adjustment of the proportional gain coefficient when the steady-state value of the feedback speed reaches more than 95% of the target speed value, and entering the next step;
3) the motor controller is modified into an improved PI control algorithm, and the next step is carried out;
4) integral gain coefficient KiAnd gradually increasing from 0 to adjust, and finishing parameter adjustment when the feedback speed adjusting time meets the requirement.
4 examples of
Taking a certain motor as an example, the rated torque is 4Nm, the rated rotating speed is 3000rpm, the moment of inertia J is 9.5e-4kg.m2, the friction coefficient B is 8.621e-4Nm.s, and the speed unit conversion coefficient is K60/(2 pi). Target speed signal omega of motor speed control system*A step signal with the amplitude of 1000rpm (the jump time is 1s), a load torque signal TLIs 1Nm (4 s at the jump moment).
According to the parameter automatic setting method of the invention, proportional and integral gain coefficients are calculated, and angular frequency omega is takennCalculated as K50p＝0.0099，KiThe system outputs of the PI controller and the modified PI controller are shown in fig. 3 at 0.2487. As can be seen from fig. 3, the improved PI control algorithm can simultaneously give consideration to both the "speed tracking performance" and the "load disturbance suppression performance", and in the PI control algorithm, when the load disturbance performance is good, the speed tracking performance becomes poor, and the speed is significantly overshot.
The proportional and integral gain coefficients are adjusted according to the manual parameter adjusting method. The controller is set to PI control algorithm first, and the proportional gain coefficient is increased to KpWhen the feedback speed steady state value reaches the target speed value, the value is 98%, and the integral gain is increased to KiWhen the speed tracking performance of the PI controller is equal to 0.005, the speed tracking performance of the PI controller meets the requirement, the controller is modified into an improved PI control algorithm, and the integral gain coefficient is continuously increased to KiWhen the speed regulation time is 0.08, the requirement is met, the parameter setting is finished, and the system output of the PI controller and the improved PI controller is shown in figure 4. As can be seen from fig. 4, the improved PI control algorithm can simultaneously consider both the "target tracking performance" and the "disturbance suppression performance", and in the PI control algorithm, when the speed tracking performance is good, the load disturbance suppression performance is poor, and the motor speed after the disturbance cannot reach the target value within a long time.
The ratio and the integral gain coefficient of the manual parameter setting method are smaller than those of the ratio and the integral gain coefficient calculated by the automatic parameter setting method, and as can be seen from comparison between fig. 3 and fig. 4, the performance of the controller of the manual parameter setting method is slightly poorer than that of the controller of the automatic parameter setting method, but the use requirements can be met.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A servo motor speed control method is characterized by comprising the following steps:
s1, adding a front low-pass filter on the basis of the PI control algorithm to form an improved PI control algorithm;
the PI control algorithm is as follows:
the pre-low-pass filter is as follows:
the improved PI control algorithm is applied to an input signal omega*The closed loop transfer function of the servo motor system under the action is as follows:
the PI control algorithm and the improved PI control algorithm are used for controlling the load torque disturbance signal TLThe closed loop transfer function of the servo motor system under the action is as follows:
wherein, KpIs a proportional gain factor, KiIn order to integrate the gain factor,
j is the rotational inertia of the motor, B is the friction coefficient, K is the speed unit conversion coefficient, if the target speed is singleThe bit is radians per second (rad/s), K is 1, and if the target speed unit is revolutions per minute (rpm), then
S2, configuring the proportional gain coefficient K by adopting an automatic parameter setting method or a manual parameter setting methodpAnd the integral gain coefficient KiThe target tracking performance and the disturbance suppression performance of the system can be optimized.
2. The servo motor speed control method of claim 1 wherein the target tracking performance and disturbance rejection performance of the modified PI control algorithm are both dependent only on the closed loop transfer function phii(s) and phid(s) pole distribution.
3. The servo motor speed control method of claim 1, wherein the proportional gain coefficient K is configured by a parameter auto-tuning method in step S2pAnd integral gain coefficient KiThe method specifically comprises the following steps:
s211, setting a natural oscillation angular frequency omega according to the response speed requirement of a control systemnFor a specific value, the natural oscillation angular frequency ωnThe larger the response speed is;
s212, the natural oscillation angular frequency omeganDetermining the proportional gain factor KpAnd the integral gain coefficient KiThe parameter calculation formula is as follows:
4. the servo motor speed control method of claim 1, wherein the step S2 is performed by configuring the proportional gain factor K using a manual parameter tuning methodpAnd integral gain coefficient KiThe method specifically comprises the following steps:
s221, the motor controller uses the PI control algorithm firstly, and the proportional gain coefficient KpThe initial value is set as the ratio of rated torque to rated rotation speed, and the integral gain coefficient KiSetting the initial value as 0, and entering the next step;
s222, the proportional gain coefficient KpGradually doubling the initial value, increasing and adjusting, observing the tracking condition of the feedback speed, and when the steady state value of the feedback speed reaches more than 95% of the target speed value, the proportional gain coefficient KpAfter the adjustment is finished, entering the next step;
s223, modifying the motor controller into the improved PI control algorithm, and entering the next step;
s224, the integral gain coefficient KiAnd gradually increasing from 0 to adjust, and finishing parameter adjustment when the feedback speed adjusting time meets the requirement.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113629763A (en) * | 2021-08-11 | 2021-11-09 | 南瑞集团有限公司 | Current control method and system for medium-voltage direct-hanging energy storage converter under non-ideal power grid |
| CN113867423A (en) * | 2021-09-07 | 2021-12-31 | 北京特种机械研究所 | Servo turntable azimuth angle tracking control method and device |
| CN113885332A (en) * | 2021-10-27 | 2022-01-04 | 中国科学院光电技术研究所 | Disturbance observer control method based on speed difference in timing belt servo system |
| CN114415599A (en) * | 2021-12-27 | 2022-04-29 | 苏州汇川控制技术有限公司 | Servo parameter self-adjusting method, servo driver and computer readable storage medium |
| CN114610025A (en) * | 2022-03-04 | 2022-06-10 | 京东鲲鹏(江苏)科技有限公司 | Control system, control method and device |
| CN116700372A (en) * | 2023-07-04 | 2023-09-05 | 佛山市兴颂机器人科技有限公司 | Servo all-in-one machine speed control method based on improved PI algorithm |
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2020
- 2020-09-30 CN CN202011062993.7A patent/CN112234904A/en active Pending
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113629763A (en) * | 2021-08-11 | 2021-11-09 | 南瑞集团有限公司 | Current control method and system for medium-voltage direct-hanging energy storage converter under non-ideal power grid |
| CN113629763B (en) * | 2021-08-11 | 2023-05-12 | 南瑞集团有限公司 | Current control method and system for medium-voltage direct-hanging energy storage converter under non-ideal power grid |
| CN113867423A (en) * | 2021-09-07 | 2021-12-31 | 北京特种机械研究所 | Servo turntable azimuth angle tracking control method and device |
| CN113867423B (en) * | 2021-09-07 | 2023-12-19 | 北京特种机械研究所 | Servo turntable azimuth angle tracking control method and device |
| CN113885332A (en) * | 2021-10-27 | 2022-01-04 | 中国科学院光电技术研究所 | Disturbance observer control method based on speed difference in timing belt servo system |
| CN113885332B (en) * | 2021-10-27 | 2023-10-03 | 中国科学院光电技术研究所 | Disturbance observer control method based on speed difference in timing belt servo system |
| CN114415599A (en) * | 2021-12-27 | 2022-04-29 | 苏州汇川控制技术有限公司 | Servo parameter self-adjusting method, servo driver and computer readable storage medium |
| CN114610025A (en) * | 2022-03-04 | 2022-06-10 | 京东鲲鹏(江苏)科技有限公司 | Control system, control method and device |
| CN116700372A (en) * | 2023-07-04 | 2023-09-05 | 佛山市兴颂机器人科技有限公司 | Servo all-in-one machine speed control method based on improved PI algorithm |
| CN116700372B (en) * | 2023-07-04 | 2024-03-22 | 广东兴颂科技有限公司 | Servo all-in-one machine speed control method based on improved PI algorithm |
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