CN112542974B - Motor control system - Google Patents

Motor control system Download PDF

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Publication number
CN112542974B
CN112542974B CN202011232818.8A CN202011232818A CN112542974B CN 112542974 B CN112542974 B CN 112542974B CN 202011232818 A CN202011232818 A CN 202011232818A CN 112542974 B CN112542974 B CN 112542974B
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motor
pid controller
parameter value
fuzzy
controller
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CN112542974A (en
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赵万良
饶范钧
严丹
丁承华
黎枭
周广平
杜畅
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Shanghai Aerospace Control Technology Institute
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Shanghai Aerospace Control Technology Institute
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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
    • H02P23/0013—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Fuzzy Systems (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a motor control system, comprising: the motor parameter module is used for setting a motor parameter value according to the target position and the working mode of the motor; the fuzzy controller is connected with the motor parameter module to obtain a PID controller parameter value according to the motor parameter value; and the PID controller group is connected with the fuzzy controller and is used for regulating and controlling the running state of the motor according to the PID controller parameter value so as to enable the motor to reach the target position. The invention can process the input motor parameter value through the fuzzy controller to obtain the PID controller parameter value, and control the running state of the motor by utilizing the PID controller parameter value, and has the characteristics of high positioning precision, stable speed regulation and flexible function.

Description

Motor control system
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control system for an aerospace driving mechanism.
Background
In the aerospace driving mechanism, a motor is used as an important component, a plurality of working modes can be set according to an external command, and the emphasis points of different working modes are different. For example, in the fast maneuvering mode, the position specified by the external command needs to be reached as soon as possible, and in the high and low tracking mode, the requirement on the speed stability is high, and so on, so that the running state of the motor needs to be optimally adjusted for different modes, and meanwhile, seamless smooth switching between different modes is also needed. A PID (proportional integral derivative) controller is often used to regulate and control the operating state of the motor, but if the operating state of the motor in different modes is regulated and controlled directly by adjusting parameters of the PID controller, the dependence on a mathematical model of a controlled object is large, and problems of slow response speed, large overshoot and the like exist.
Disclosure of Invention
The invention aims to provide a motor control system, which utilizes PID controller parameter values output by a fuzzy controller to regulate and control the running state of a motor so as to enable the motor to meet the requirement of an external command.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a motor control system comprising:
the motor parameter module is used for setting a motor parameter value according to the target position and the working mode of the motor;
the fuzzy controller is connected with the motor parameter module to obtain a PID controller parameter value according to the motor parameter value;
and the PID controller group is connected with the fuzzy controller and used for regulating and controlling the running state of the motor according to the PID controller parameter value so as to enable the motor to reach the target position.
Preferably, the operation modes of the motor include: one or any combination of a fast maneuver mode, a high speed tracking mode, a low speed tracking mode, and a position-locking mode.
Preferably, the fuzzy controller takes the motor parameter value as input data, and adopts a fuzzy control method to obtain the PID controller parameter value.
Preferably, the fuzzy control method comprises:
fuzzifying the input motor parameter value by adopting a membership function to obtain a fuzzy quantity of the motor parameter;
carrying out fuzzy reasoning on the fuzzy quantity of the motor parameters according to a preset fuzzy rule to obtain a fuzzy result of the PID controller parameters;
and carrying out defuzzification processing on the fuzzy result of the PID controller parameter to obtain the PID controller parameter value.
Preferably, the PID controller group includes:
the first PID controller is connected with the fuzzy controller so as to regulate and control the current of the motor according to the PID controller parameter value and output the regulated and controlled current;
the second PID controller is respectively connected with the fuzzy controller and the first PID controller (1301) so as to regulate and control the speed of the motor according to the PID controller parameter value and the regulated current and output the regulated speed;
and the third PID controller is respectively connected with the fuzzy controller and the second PID controller so as to regulate and control the position of the motor according to the PID controller parameter value and the regulated speed and enable the motor to reach the target position.
Preferably, the motor parameters include: rotation time, rotation distance, tracking smoothness, bearing friction torque and cable pulling resistance torque.
Preferably, the PID controller parameters include: a proportional adjustment coefficient Kp, an integral adjustment coefficient Ki, and a derivative adjustment coefficient Kd.
Compared with the prior art, the invention has at least one of the following advantages:
according to the motor control system provided by the invention, the input motor parameter value can be processed through the fuzzy controller to obtain the PID controller parameter value, and the operating state of the motor is controlled by using the PID controller parameter value, so that the motor control system has the characteristics of high positioning precision, stable speed regulation and flexible function, and the performance of the aerospace driving mechanism is further improved.
The PID controller group can carry out closed-loop control on the current, the speed and the position of the motor according to the PID controller parameter values output by the fuzzy controller, so that the nonlinear mapping relation between the motor parameters and the current, the speed and the position of the motor is realized, the dynamic and static performance and the response speed of a motor control system are improved, and the overshoot is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a motor control system according to an embodiment of the present invention.
Detailed Description
The following describes a motor control system according to the present invention in further detail with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As shown in fig. 1, the present embodiment provides a motor control system, including: a motor parameter module 110, configured to set a motor parameter value according to the target position and the operating mode of the motor; the fuzzy controller 120 is connected with the motor parameter module 110 to obtain PID controller parameter values according to the motor parameter values; and the PID controller group 130 is connected with the fuzzy controller 120 and is used for regulating and controlling the running state of the motor according to the PID controller parameter value so as to enable the motor to reach the target position.
With continued reference to fig. 1, the operating modes of the motor include: one or any combination of a fast maneuver mode, a high speed tracking mode, a low speed tracking mode, and a position-locking mode.
It will be appreciated that in some other embodiments, the motor parameters include: rotation time, rotation distance, tracking smoothness, bearing friction torque and cable pulling resistance torque.
Specifically, in this embodiment, the working mode of the motor may be divided into a fast maneuvering mode, a high-speed tracking mode, a low-speed tracking mode, and a position locking mode according to the requirement of an external command on the driving condition of the motor; the corresponding emphasis points of each mode are different, for example, the motor is required to reach the target position as soon as possible in the fast maneuvering mode, the requirements on the speed stability of the motor are higher in the high-speed tracking mode and the low-speed tracking mode, the requirements on the locking torque and the static position stability of the motor are higher in the position locking mode, and therefore the motor parameter values are changed in different modes, so that the motor is in a corresponding running state. After the target position and the operating mode of the motor are determined, the corresponding motor parameter value may be set in the motor parameter module 110, but the invention is not limited thereto.
Referring to fig. 1, the fuzzy controller 120 uses the motor parameter value as input data, and obtains the PID controller parameter value by using a fuzzy control method.
It will be appreciated that in some other embodiments, the fuzzy control method comprises: fuzzifying the input motor parameter value by adopting a membership function to obtain a fuzzy quantity of the motor parameter; carrying out fuzzy reasoning on the fuzzy quantity of the motor parameters according to a preset fuzzy rule to obtain a fuzzy result of the PID controller parameters; and carrying out defuzzification processing on the fuzzy result of the PID controller parameter to obtain the PID controller parameter value.
Specifically, in this embodiment, since the motor control system is a complex control system with multiple parameters, the motor parameters include five specific parameters, i.e., rotation time, rotation distance, tracking smoothness, bearing friction torque, and cable pulling resistance torque, and different parameters are not completely independent of each other, and there are more or less couplings. The fuzzy controller 120 may reduce the parameter coupling characteristic and, under the condition that an accurate mathematical model cannot be constructed, use the motor parameter value as input data, and perform calculation processing on the motor parameter value by using a fuzzy control method to obtain the PID controller parameter value, i.e., output data, so that the operating state of the motor may be subsequently regulated and controlled according to the PID controller parameter value, thereby enabling the motor control system to have the characteristics of high positioning accuracy, stable speed regulation, and flexible function, but the invention is not limited thereto.
Specifically, in this embodiment, the preset fuzzy rule may be constructed according to a change rule (including a qualitative rule or a quantitative rule) between the motor parameter value and the PID controller parameter value in the historical operating condition of the motor (including different working modes and different target positions); the change rule between the motor parameter value and the PID controller parameter value in the motor historical operating condition may be analyzed and summarized by a mathematical analysis method (e.g., a neural network analysis method) or expert experience, but the invention is not limited thereto.
With continued reference to fig. 1, the PID controller group 130 includes: the first PID controller 1301 is connected with the fuzzy controller 120, and is used for regulating and controlling the current of the motor according to the PID controller parameter value and outputting the regulated and controlled current; a second PID controller 1302, respectively connected to the fuzzy controller 120 and the first PID controller 1301, for regulating the speed of the motor according to the PID controller parameter value and the regulated current and outputting the regulated speed; and the third PID controller 1303 is connected to the fuzzy controller 120 and the second PID controller 1302, respectively, so as to regulate and control the position of the motor according to the PID controller parameter value and the regulated speed, and enable the motor to reach the target position.
It will be appreciated that in some other embodiments, the PID controller parameters include: a proportional adjustment coefficient Kp, an integral adjustment coefficient Ki, and a derivative adjustment coefficient Kd.
Specifically, the PID controller group 130 may perform three closed-loop driving control on the current, the speed, and the position of the motor according to the motor parameter and the PID controller parameter value obtained by the fuzzy controller 120, so as to complete the control of the corresponding operating state of the motor in the selected operating mode, so that the motor may reach the target position according to the selected operating mode. The operating state of the motor is regulated according to the PID controller parameter values output by the fuzzy controller 120, so that the nonlinear mapping relationship between the motor parameters and the current, speed and position of the motor in the motor control system can be realized, the control effect of the PID controller group 130 is obviously superior to that of the traditional PID controller, the dynamic and static performance and response speed of the motor control system are improved, and the overshoot amount is reduced; in addition, the smooth switching of the operation state of the motor between different operation modes can also be realized by regulating and controlling the operation state of the motor according to the PID controller parameter value output by the fuzzy controller 120, but the invention is not limited thereto.
In this embodiment, the first PID controller 1301 may perform closed-loop control on the current of the motor according to the PID controller parameter value, the second PID controller 1302 may perform closed-loop control on the speed of the motor according to the PID controller parameter value and the regulated current, and the third PID controller 1303 may perform closed-loop control on the position of the motor according to the PID controller parameter value and the regulated speed, so that the motor may reach the target position in the selected operating mode.
In summary, in the motor control system provided in this embodiment, the motor parameter module may set a corresponding motor parameter value according to the target position and the working mode of the motor, the fuzzy controller may perform calculation processing on the motor parameter value by using a fuzzy control method to obtain a PID controller parameter value, and the PID controller group may perform closed-loop control on the current, the speed, and the position of the motor according to the PID controller parameter value to complete regulation and control of the running state of the motor, so that the motor may reach the target position in the selected working mode. The motor control system provided by the embodiment has the characteristics of high positioning precision, stable speed regulation and high response speed, and meanwhile, the overshoot is small, and the performance of the aerospace driving mechanism can be obviously improved by the application of the embodiment.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.

Claims (5)

1. A motor control system, comprising:
the motor parameter module (110) is used for setting a motor parameter value according to the target position and the working mode of the motor;
the fuzzy controller (120) is connected with the motor parameter module (110) so as to obtain a PID controller parameter value according to the motor parameter value;
the PID controller group (130) is connected with the fuzzy controller (120) and is used for regulating and controlling the running state of the motor according to the PID controller parameter value so as to enable the motor to reach the target position;
the motor parameters include: rotation time, rotation distance, tracking smoothness, bearing friction torque and cable pulling resistance torque;
and the fuzzy controller (120) takes the motor parameter value as input data and adopts a fuzzy control method to obtain the PID controller parameter value.
2. The motor control system of claim 1 wherein the operating modes of the motor comprise: one or any combination of a fast maneuver mode, a high speed tracking mode, a low speed tracking mode, and a position-locking mode.
3. The motor control system of claim 1, wherein the fuzzy control method comprises:
fuzzifying the input motor parameter value by adopting a membership function to obtain a fuzzy quantity of the motor parameter;
carrying out fuzzy reasoning on the fuzzy quantity of the motor parameters according to a preset fuzzy rule to obtain a fuzzy result of the PID controller parameters;
and carrying out defuzzification processing on the fuzzy result of the PID controller parameter to obtain the PID controller parameter value.
4. The motor control system of claim 1, wherein the PID controller group (130) comprises:
the first PID controller (1301) is connected with the fuzzy controller (120) so as to regulate and control the current of the motor according to the PID controller parameter value and output the regulated and controlled current;
the second PID controller (1302) is respectively connected with the fuzzy controller (120) and the first PID controller (1301) so as to regulate and control the speed of the motor according to the PID controller parameter value and the regulated current and output the regulated speed;
and the third PID controller (1303) is respectively connected with the fuzzy controller (120) and the second PID controller (1302) so as to regulate and control the position of the motor according to the PID controller parameter value and the regulated and controlled speed and enable the motor to reach the target position.
5. The motor control system of any of claims 1-4 wherein the PID controller parameters comprise: a proportional adjustment coefficient Kp, an integral adjustment coefficient Ki, and a derivative adjustment coefficient Kd.
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