CN113111535A - Motor speed servo system semi-simulation method based on MCU - Google Patents

Motor speed servo system semi-simulation method based on MCU Download PDF

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CN113111535A
CN113111535A CN202110462835.9A CN202110462835A CN113111535A CN 113111535 A CN113111535 A CN 113111535A CN 202110462835 A CN202110462835 A CN 202110462835A CN 113111535 A CN113111535 A CN 113111535A
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管力明
陈德传
丁禹心
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Hangzhou Hengrui Teaching Equipment Co ltd
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Hangzhou Dianzi University
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Abstract

The invention relates to a motor speed servo system semi-simulation method based on an MCU (microprogrammed control Unit). The invention utilizes the compatibility of the input/output signal interface of the MCU hardware mainboard and the input/output signal interface of the actual speed servo system, and simulates the internal working process of the actual speed servo system by a calculation method and software reflecting the dynamic and static response processes of the system, thereby not only carrying out follow-up control experimental study on speed regulating instructions, but also carrying out anti-interference experimental study on load torque disturbance, time-varying inertia disturbance and the like, and having the actual signal interface of an industrial-grade speed regulating system product, so that students can issue real-time speed regulating instructions to the actual motor control system product through an upper computer, flexibly set load disturbance parameters or disturbance time-varying curves and monitor the actual controlled signals output by the semi-simulation system in real time. The scheme of the invention has low cost, good safety and wide product application prospect.

Description

Motor speed servo system semi-simulation method based on MCU
Technical Field
The invention belongs to the technical field of automation, relates to a semi-simulation method of a control system, in particular to a motor speed servo system semi-simulation method based on an MCU (comprising a microcontroller, a singlechip, a DSP and the like), and is suitable for semi-simulation experiment devices of various motor control systems.
Background
The experiment of the AC and DC motor speed regulation control system is one of the core courses of the automation major in colleges and universities, and the technical scheme of the experiment is mainly three: the first is a motor control experimental device based on a full circuit module combination, such as the motor control experimental device products of numerous teaching instruments companies, which has the main problems that: firstly, the dynamic response performance of the system is not ideal enough only based on the conventional adjusting method; secondly, loading experiments, particularly dynamic sudden loading and unloading experiments, variable inertia experiments and the like are difficult to perform; thirdly, the method is disconnected with the current industrial-grade speed regulation control technology based on a high-performance MCU (comprising a microcontroller, a singlechip, a DSP and the like); fourthly, the experimental device has large volume and high cost. The second kind is experimental apparatus based on industrial grade speed adjusting device product, and its main problem that exists lies in: firstly, the experiment of students is performed by adopting a pure industrial grade product, and the experiment test is difficult; secondly, loading experiments, particularly dynamic sudden loading and unloading experiments, variable inertia experiments and the like are difficult to perform, and thirdly, the manufacturing cost is high. The third one is the full simulation experiment of the system simulation software platform based on the numerical solution of the differential equation, which has the advantages of low experiment cost and only needing to install simulation software in an office computer. But there are major problems: the students cannot establish a physical system concept, no actual system signal can be tested, the theory and the reality are difficult to combine, and the software simulation is only suitable for a purely theoretical experiment and cannot improve the actual technical skills of the students. Therefore, the novel semi-simulation system has the advantages that the system is compatible with an industrial-grade speed regulating system product in the aspect of a physical signal interface, only one control board based on the MCU is needed, the MCU downloads application software to simulate an actual speed regulating system, tracking control can be performed on a speed regulating instruction from an upper level, experiments such as load disturbance resistance and the like can be conveniently performed, and the novel semi-simulation system is low in cost, high in experiment application requirements and significant in deep understanding of students on a motor control system.
Disclosure of Invention
The invention aims at the defects of the prior art and provides a motor speed servo system semi-simulation method based on an MCU (comprising a microcontroller, a singlechip, a DSP and the like), which adopts an input/output signal interface of an MCU hardware mainboard to be compatible with an input/output signal interface of an actual speed servo system, uses a calculation method and software for reflecting the dynamic and static response processes of the system to simulate the internal working process of the actual speed servo system, can carry out follow-up control experimental study on speed regulating instructions, can also carry out anti-interference experimental study on load torque disturbance, time-varying inertia disturbance and the like, has an actual signal interface of an industrial-grade speed regulating system product, enables students to issue real-time speed regulating instructions to the actual motor control system product through an upper computer as using the actual motor control system product, and flexibly sets load disturbance parameters or disturbance time-varying curves, and real-time monitoring the actual controlled signal output by the semi-simulation system. In addition, the motor speed servo semi-simulation system based on the MCU can replace the actual motor speed servo system in the physical experiment or experimental research of a complex electromechanical control system by using the semi-simulation device, thereby greatly simplifying the experimental research scheme of the complex system and having low cost and good safety.
A motor speed servo system semi-simulation method based on an MCU comprises the following steps:
1-1, three analog A/D conversion input ports, A/D1, A/D2 and A/D3.
The A/D1 inputs: u. ofJ＝kJJ∈[0，Vref]Wherein u isJIs a rotational inertia signal, J is a system rotational inertia, J belongs to [0, J ∈m]，kJIs coefficient of inertia, kJ＝Vref/Jm，VrefIs the reference voltage of the A/D, D/A converter.
The A/D2 inputs: u. ofL＝kLTL∈[0，Vref]Wherein u isLFor system load torque signal, TLFor load torque, TL∈[0,TLm]，kLIs the torque coefficient, kL＝Vref/TLm。
Figure BDA0003032405330000021
Is a speed analog quantity command signal from an upper-level system.
Figure BDA0003032405330000022
Is and is output to the conditioning unit through the speed analog signal command inputThe speed command of the A/D3 port conditions the signal,
Figure BDA0003032405330000023
as an operating speed command for an analog speed servo system.
Figure BDA0003032405330000024
And
Figure BDA0003032405330000025
the relationship of (a) to (b) is as follows:
Figure BDA0003032405330000026
correspond to
Figure BDA0003032405330000027
Therein
Figure BDA0003032405330000028
Are respectively as
Figure BDA0003032405330000029
n*Is a maximum value of
Figure BDA00030324053300000210
n*α is a speed coefficient for the speed command.
1-2, a pulse quantity input port PI1 and a digital quantity input port DI 1.
The PI1 inputs: pulse frequency command as a speed command signal for a digital servo system
Figure BDA00030324053300000211
DI1 inputs: and
Figure BDA00030324053300000212
a coordinated direction of motion instruction DIR, wherein
Figure BDA00030324053300000213
Gamma is a frequency coefficient
Figure BDA00030324053300000214
1-3. an analog conversion output port D/A1; D/A1 output: u. ofn0，un0∈[0，Vref]，un0Then the actual speed analog quantity signal u is output by the actual speed analog signal output conditioning unitnComprises the following steps:
Figure BDA0003032405330000031
n is the actual speed of the vehicle,
Figure BDA0003032405330000032
1-4, three pulse output ports, PO1, PO2 and PO 3; PO1, PO2 outputs: two paths of orthogonal pulse PG-A signals and PG-B signals of an incremental photoelectric encoder PG in an actual system output N pulses (NP/R) per revolution, and the pulse frequency f of the N pulsesnNn/60, PO3 output: the mark pulse signal PG-Z signal of one pulse (1P/R) is output every revolution.
2-1, reading a system rotational inertia signal u by an A/D1 portJ＝kJJ∈[0，Vref]With a sampling period of τsWith a time constant of τ0Calculating the rotational inertia of the system after the first-order inertia filtering:
Figure BDA0003032405330000033
2-2. reading a system load torque signal u by an A/D2 portL＝kLTL∈[0，Vref]With a sampling period of τsWith a time constant of τ0Calculating the system load torque after the first order inertia filtering:
Figure BDA0003032405330000034
3-1, when operating in analog quantity instruction, reading system analog quantity speed instruction conditioning signal by A/D1 port
Figure BDA0003032405330000035
With a period τsWith a time constant of τ0First order inertial filtering of (1):
Figure BDA0003032405330000036
further calculating the system speed command
Figure BDA0003032405330000037
3-2, when the system runs in the pulse quantity command, reading a system pulse quantity speed command by a PI1 port and a motion direction command by a DI1 port, and calculating an actual speed command signal and a motion direction thereof:
Figure BDA0003032405330000038
DIR＝1：
Figure BDA0003032405330000039
DIR＝0：
Figure BDA00030324053300000310
4. calculating the real-time speed output by the motor speed servo system: setting: the load is a constant inertia load or a slowly-varying inertia load, J (k) is approximately equal to J (k-1) in one sampling period, and the following conditions are set: allowing the relative static difference to be delta and considering the effect of resisting load torque disturbance, then:
Figure BDA0003032405330000041
at steady state T of the system under constant torque load conditionL(k)＝TL(k-1), then: n (∞) being n*(∞)。
5. Calculating speed analog quantity signal u output by systemn0(k)∈[0，Vref]：
Figure BDA0003032405330000042
Through the input of actual speed analog signalActual speed analog quantity signal u output after output of conditioning unitn∈[-unm，+unm]：
Figure BDA0003032405330000043
Figure BDA0003032405330000044
6. Output pulse quantity frequency f of incremental photoelectric encoder for calculating system output speedn(k) Direction DIR signal (A, B is orthogonal pulse signal, emitting pulse waveform):
Figure BDA0003032405330000045
Figure BDA0003032405330000046
wherein the frequency of the PG-A, PG-B two-way square wave pulse is fn(k) Duty ratio of 1:1, with a lead-lag relationship depending on the polarity of the actual speed n (k), and PG-Z outputting a flag pulse with frequency f per revolutionn(k) N, pulse width 0.5/fn(k)。
The invention has the following beneficial effects:
the invention utilizes the input/output signal interface of the MCU (including microcontroller, singlechip, DSP, etc.) hardware mainboard to be compatible with the input/output signal interface of the actual speed servo system, utilizes the calculation method and software which are arranged in the MCU and reflect the dynamic response process of the system to simulate the internal working process of the actual speed servo system, integrates the advantages of computer software simulation experiment and industrial product experiment using the speed regulating system, is that students 'skills carry out experimental study on the following control performance and anti-interference performance of the speed regulating system, is practical in the aspect of system input and output signal transmission, is that students' theoretical connection is practical, and simultaneously improves professional theoretical level and technical skills.
Drawings
FIG. 1 is a block diagram of an I/O interface circuit of a main board of an MCU of a semi-simulation intelligent device of a speed servo system of the present invention.
Detailed Description
As shown in fig. 1, a motor speed servo system semi-simulation method based on an MCU includes the following steps:
step 1, an MCU hardware mainboard for simulating a speed servo system is provided with the following input and output interfaces, a speed simulation signal instruction input conditioning unit and an actual speed simulation signal output conditioning unit:
1-1, three analog quantity A/D conversion input ports, A/D1, A/D2 and A/D3 are respectively input: u. ofJ＝kJJ∈[0，Vref]Moment of inertia signal (unit: V), J-system moment of inertia (unit: Nms)2)，J∈[0,Jm]，kJ＝Vref/JmCoefficient of inertia (unit: V/Nms)2)，Vref-reference voltage of A/D, D/A converter (unit: V); u. ofL＝kLTL∈[0，Vref]-a system load torque signal (unit: V), TL- -load torque (unit: Nm), TL∈[0,TLm]，kL＝Vref/TLmTorque factor (unit: V/Nm);
Figure BDA0003032405330000051
the speed analog command signal from the upper system and the speed command conditioning signal (unit: V) output to the a/D3 port via the speed analog signal command input conditioning unit are respectively used as the operation speed command of the analog speed servo system, and the relationship is as follows:
Figure BDA0003032405330000052
correspond to
Figure BDA0003032405330000053
Therein
Figure BDA0003032405330000054
Are respectively as
Figure BDA0003032405330000055
n*Is a maximum value of
Figure BDA0003032405330000056
n*-speed command (unit: rpm), α -speed coefficient (unit: V/rpm);
1-2. a pulse input port PI1 for inputting:
Figure BDA0003032405330000057
-a pulse frequency command (unit: Hz) as a speed command signal for the digital servo system; a digital input DI1 for inputting: DIR- -and
Figure BDA0003032405330000058
a coordinated motion direction command (DIR 1: forward, DIR 0: reverse),
Figure BDA0003032405330000059
Figure BDA00030324053300000510
frequency coefficient (unit: Hz/rpm);
1-3. an analog D/A1 conversion output port, outputting: u. ofn0∈[0，Vref]And then the actual speed analog quantity signal u is output by the actual speed analog signal output conditioning unitn(unit: V) is:
Figure BDA0003032405330000061
actual speed (unit: rpm);
1-4, three pulse output ports, namely PO1, PO2 and PO3, respectively output: two paths of orthogonal pulse PG-A signals and PG-B signals of an incremental photoelectric encoder PG in an actual system output N pulses (NP/R) per revolution, and the pulse frequency f of the N pulsesnN |/60 (unit: Hz), and a flag pulse signal PG-Z signal outputting one pulse (1P/R) per revolution with a pulse frequency of: f. ofzN/60 (unit: Hz), pulse width is: τ is 0.5/f n30/(Nn) (unit: s).
Step 2, sampling processing of the system load parameter setting value:
2-1, reading a system rotational inertia signal u by an A/D1 portJ＝kJJ∈[0，Vref]With a sampling period of τs(unit: s) with a time constant of τ0Calculating the rotational inertia of the system after first-order inertial filtering of (unit: s):
Figure BDA0003032405330000062
2-2. reading a system load torque signal u by an A/D1 portL＝kLTL∈[0，Vref]With a sampling period of τs(unit: s) with a time constant of τ0Calculating the system load torque after the first-order inertia filtering of (unit: s):
Figure BDA0003032405330000063
step 3, sampling processing of the speed running instruction:
3-1, when operating in analog quantity instruction, reading system analog quantity speed instruction conditioning signal by A/D1 port
Figure BDA0003032405330000064
With a period τs(unit: s) with a time constant of τ0First order inertial post-filtering calculation of (unit: s):
Figure BDA0003032405330000065
further calculating the system speed command
Figure BDA0003032405330000066
3-2, when the system runs in the pulse quantity command, reading a system pulse quantity speed command and a system pulse quantity direction command by PI1 and DI1 ports, and calculating an actual speed command signal and a motion direction thereof:
Figure BDA0003032405330000067
DIR＝1：
Figure BDA0003032405330000068
DIR＝0：
Figure BDA0003032405330000069
and 4, calculating the real-time speed output by the motor speed servo system: setting: the load is a constant inertia load or a slowly-varying inertia load, J (k) is approximately equal to J (k-1) in one sampling period, and the following conditions are set: allowing the relative static difference to be delta and considering the effect of resisting load torque disturbance, then:
Figure BDA0003032405330000071
at steady state T of the system under constant torque load conditionL(k)＝TL(k-1), then: n (∞) being n*(∞)。
Step 5, calculating a speed analog quantity signal u output by the systemn0(k)∈[0，Vref]：
Figure BDA0003032405330000072
The actual speed analog quantity signal u is output after the actual speed analog signal is output to the conditioning unitn∈[-unm，+unm]：
Figure BDA0003032405330000073
Figure BDA0003032405330000074
Step 6, calculating the output speed of the system, and outputting the pulse quantity frequency f of the incremental photoelectric encodern(k) Direction DIR signal (A, B is orthogonal pulse signal, emitting pulse waveform):
Figure BDA0003032405330000075
Figure BDA0003032405330000076
wherein the frequency of the PG-A, PG-B two-way square wave pulse is fn(k) Duty ratio of 1:1, with a lead-lag relationship depending on the polarity of the actual speed n (k), and PG-Z outputting a flag pulse with frequency f per revolutionn(k) N, pulse width 0.5/fn(k)。
The working process of the invention is as follows:
the semi-simulation intelligent device of the speed servo system shown in figure 1 is a control circuit board with an MCU (microprogrammed control Unit) as a core, an input/output signal interface of the semi-simulation intelligent device is compatible with an actual motor speed control system, and software is used for simulating the dynamic and static response processes of a double closed-loop speed control system with a speed regulator and a torque regulator as control cores in figure 1, including the response to the input of a speed instruction (wherein, the instruction of a simulation speed regulation system is that
Figure BDA0003032405330000081
The digital speed regulating system commands as
Figure BDA0003032405330000082
And the motion direction instruction: DIR is 1: forward rotation, DIR ═ 0: reverse rotation) and input to load disturbance (load torque signal is u)L＝kLTL∈[0，Vref]The rotational inertia signal is uJ＝kJJ∈[0，Vref]) The anti-jamming response procedure of (1). The speed command and the load disturbance signal can be set by an upper computer at will, and the analog quantity signal part can also be set by an external potentiometer. The semi-simulation intelligent device of the speed servo system shown in the attached figure 1 simultaneously outputs two speed response signals in real time:
(1) speed analog signal input of real system
Figure BDA0003032405330000083
(2) Speed pulse quantity signal output of the actual system:
1) frequency of two paths of orthogonal pulse signals PG-A, PG-B: f. ofnN |/60, (unit: Hz);
2) the phase relation of two paths of PG-A, PG-B orthogonal pulse signals is as follows:
when n > 0, PG-A leads PG-B by one quarter of a cycle: 0.25Tn＝0.25/fn(unit: s);
when n < 0, PG-A lags behind PG-B by a quarter of a cycle: 0.25Tn＝0.25/fn(unit: s);
3) PG-Z flag pulse signal: the pulse frequency is: f. ofzN/60 (unit: Hz), pulse width is: τ is 0.5/f n30/(Nn) (unit: s).
In addition, when a specific complex control system with multiple coordinated motors needs experimental verification, the semi-simulation intelligent device of the speed servo system shown in fig. 1 can be used as each execution subsystem in the complex control system to perform a physical simulation test of a large system under the control of a superior controller PLC or IPC, which is a novel scheme of the physical simulation test of the large system, greatly reduces the complexity and cost of the large system test, and is suitable for the running condition of the actual system.
Although the invention is a semi-simulation method for a motor speed control system, the invention can be easily expanded into semi-simulation of a position control system and a moment control system by the same way, and therefore, similar expansion also belongs to the protection scope of the invention.

Claims (1)

1. A motor speed servo system semi-simulation method based on MCU is characterized in that an input/output signal interface of an MCU hardware mainboard is compatible with an input/output signal interface of an actual speed servo system, the MCU hardware mainboard for simulating the speed servo system is provided with the following input/output interface, a speed simulation signal instruction input conditioning unit and an actual speed simulation signal output conditioning unit, and a calculation method and software which are arranged in the MCU and reflect the dynamic response process of the system are used for simulating the internal working process of the actual speed servo system, and the method specifically comprises the following steps:
1-1, three analog quantity A/D conversion input ports, namely A/D1, A/D2 and A/D3;
the A/D1 inputs: u. ofJ＝kJJ∈[0，Vref]Wherein u isJIs a rotational inertia signal, J is a system rotational inertia, J belongs to [0, J ∈m]，kJIs coefficient of inertia, kJ＝Vref/Jm，VrefIs the reference voltage of the A/D, D/A converter;
the A/D2 inputs: u. ofL＝kLTL∈[0，Vref]Wherein u isLFor system load torque signal, TLFor load torque, TL∈[0,TLm]，kLIs the torque coefficient, kL＝Vref/TLm；
Figure FDA0003032405320000011
A speed analog quantity command signal from an upper-level system;
Figure FDA0003032405320000012
for the speed instruction conditioning signal output to the A/D3 port through the speed analog signal instruction input conditioning unit,
Figure FDA0003032405320000013
as the operation speed command of the analog quantity speed servo system;
Figure FDA0003032405320000014
and
Figure FDA0003032405320000015
the relationship of (a) to (b) is as follows:
Figure FDA0003032405320000016
correspond to
Figure FDA0003032405320000017
Therein
Figure FDA0003032405320000018
Are respectively as
Figure FDA0003032405320000019
n*Is a maximum value of
Figure FDA00030324053200000110
n*Is a speed command, alpha is a speed coefficient;
1-2. a pulse quantity input port PI1 and a digital quantity input port DI 1;
the PI1 inputs: pulse frequency command as a speed command signal for a digital servo system
Figure FDA00030324053200000111
DI1 inputs: and
Figure FDA00030324053200000112
a coordinated direction of motion instruction DIR, wherein
Figure FDA00030324053200000113
Gamma is a frequency coefficient
Figure FDA00030324053200000114
1-3. an analog conversion output port D/A1;
D/A1 output: u. ofn0，un0∈[0，Vref]，un0Then the actual speed analog quantity signal u is output by the actual speed analog signal output conditioning unitnComprises the following steps:
Figure FDA00030324053200000115
n is the actual speed of the vehicle,
Figure FDA0003032405320000021
1-4, three pulse output ports, PO1, PO2 and PO 3;
PO1, PO2 outputs: two paths of orthogonal pulse PG-A signals and PG-B signals of an incremental photoelectric encoder PG in an actual system output N pulses (NP/R) per revolution, and the pulse frequency f of the N pulsesn＝Nn/60，
PO3 output: outputting a mark pulse signal PG-Z signal of one pulse (1P/R) per revolution;
2-1, reading a system rotational inertia signal u by an A/D1 portJ＝kJJ∈[0，Vref]With a sampling period of τsWith a time constant of τ0Calculating the rotational inertia of the system after the first-order inertia filtering:
Figure FDA0003032405320000022
2-2. reading a system load torque signal u by an A/D2 portL＝kLTL∈[0，Vref]With a sampling period of τsWith a time constant of τ0Calculating the system load torque after the first order inertia filtering:
Figure FDA0003032405320000023
3-1, when operating in analog quantity instruction, reading system analog quantity speed instruction conditioning signal by A/D1 port
Figure FDA0003032405320000024
With a period τsWith a time constant of τ0First order inertial filtering of (1):
Figure FDA0003032405320000025
further calculating the system speed command
Figure FDA0003032405320000026
3-2, when the system runs in the pulse quantity command, reading a system pulse quantity speed command by a PI1 port and a motion direction command by a DI1 port, and calculating an actual speed command signal and a motion direction thereof:
Figure FDA0003032405320000027
DIR＝1：
Figure FDA0003032405320000028
DIR＝0：
Figure FDA0003032405320000029
4. calculating the real-time speed output by the motor speed servo system: setting: the load is a constant inertia load or a slowly-varying inertia load, J (k) is approximately equal to J (k-1) in one sampling period, and the following conditions are set: allowing the relative static difference to be delta and considering the effect of resisting load torque disturbance, then:
Figure FDA0003032405320000031
at steady state T of the system under constant torque load conditionL(k)＝TL(k-1), then: n (∞) being n*(∞)；
5. Calculating speed analog quantity signal u output by systemn0(k)∈[0，Vref]：
Figure FDA0003032405320000032
The actual speed analog quantity signal u is output after the actual speed analog signal is output to the conditioning unitn∈[-unm，+unm]：
Figure FDA0003032405320000033
Figure FDA0003032405320000034
6. Incremental light to compute system output speedFrequency f of output pulse of electric encodern(k) Direction DIR signal (A, B is orthogonal pulse signal, emitting pulse waveform):
Figure FDA0003032405320000035
Figure FDA0003032405320000036
wherein the frequency of the PG-A, PG-B two-way square wave pulse is fn(k) Duty ratio of 1:1, with a lead-lag relationship depending on the polarity of the actual speed n (k), and PG-Z outputting a flag pulse with frequency f per revolutionn(k) N, pulse width 0.5/fn(k)。
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