CN113111535B - Motor speed servo system semi-simulation method based on MCU - Google Patents
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Abstract
The invention relates to a motor speed servo system semi-simulation method based on an MCU. The invention utilizes the compatibility of the input/output signal interface of the MCU hardware main board and the input/output signal interface of the actual speed servo system, and uses the calculation method and software reflecting the dynamic and static response processes of the system to simulate the internal working process of the actual speed servo system, not only can carry out follow-up control experiment research on the speed regulating instruction, but also can carry out anti-interference experiment research on load torque disturbance, time-varying inertia disturbance and the like, and has the actual signal interface of an industrial-grade speed regulating system product, so that students can send real-time speed regulating instruction to the student through an upper computer like using the actual motor control system product, flexibly set load disturbance parameters or disturbance time-varying curves, and monitor the actual controlled signal output by the semi-simulation system in real time. The scheme of the invention has low cost, good safety and wide application prospect in production.
Description
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 semi-simulation method of a motor speed servo system based on MCU (including a microcontroller, a singlechip, a DSP and the like), and is suitable for semi-simulation experimental devices of various motor control systems.
Background
The experiment of the AC/DC motor speed regulation control system is one of the core courses of the automation class profession of colleges and universities, and the technical proposal of the experiment is mainly three at present: the first is a motor control experimental device based on a full circuit module combination, such as motor control experimental device products of a plurality of teaching instrument companies, and the main problems are that: firstly, the dynamic response performance of the system is not ideal only based on a conventional adjusting method; secondly, a loading experiment, particularly a dynamic sudden loading and unloading experiment, a variable inertia experiment and the like are difficult to perform; thirdly, the method is disjointed with the current industrial-grade speed regulation control technology based on high-performance MCU (including microcontroller, singlechip, DSP, etc.); fourth, the experimental device is large in size and high in cost. The second kind is the experimental apparatus based on industrial-grade speed adjusting device product, and its main problems that exist lie in: firstly, adopting a pure industrial grade product to carry out experiments for students, and making the experiment and the test difficult; secondly, the loading experiment, particularly the dynamic sudden loading and unloading experiment, the variable inertia experiment and the like are difficult to carry out, and thirdly, the manufacturing cost is high. The third is the full simulation experiment of the system simulation software platform based on differential equation numerical solution, and has the advantages of low experiment cost, and only the simulation software is required to be installed in an office computer. But there are major problems in that: the students cannot build physical system concepts, no actual system signals can be tested, theory and practice are difficult to combine, and the software simulation is only suitable for pure theoretical experiments, and cannot improve the actual technical skills of the students. Therefore, the invention provides a product compatible with an industrial speed regulating system in the aspect of a physical signal interface, only a control board based on an MCU is needed, an actual speed regulating system is simulated by downloading application software to the MCU, tracking control can be carried out on a speed regulating instruction from a superior stage, and experiments such as load disturbance resistance and the like can be conveniently carried out.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a motor speed servo system semi-simulation method based on MCU, which adopts the compatibility of an input/output signal interface of a MCU (including a microcontroller, a singlechip, a DSP and the like) hardware main board and an input/output signal interface of an actual speed servo system, uses a calculation method and software 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 experiment research on a speed regulation instruction, can carry out anti-interference experiment research on load torque disturbance, time-varying inertia disturbance and the like, and has an actual signal interface of an industrial speed regulation system product, so that students can send real-time speed regulation instructions to the students through an upper computer like using the actual motor control system product, 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. In addition, the motor speed servo semi-simulation system based on the MCU can be used for replacing an actual motor speed servo system in a physical experiment or experimental study on a complex electromechanical control system, so that the experimental study scheme of the complex system is greatly simplified, and the motor speed servo semi-simulation system is low in cost and good in safety.
A motor speed servo system semi-simulation method based on MCU includes the following steps:
1-1. Three analog A/D conversion input ports, A/D1, A/D2, A/D3.
a/D1 input: u (u) J ＝k J J∈[0，V ref ]Wherein u is J For moment of inertia signal, J is the moment of inertia of the system, J e [0, J m ]，k J Is the inertia coefficient, k J ＝V ref /J m ，V ref Is the reference voltage of the a/D, D/a converter.
a/D2 input: u (u) L ＝k L T L ∈[0，V ref ]Wherein u is L For the system load torque signal, T L For load torque, T L ∈[0,T Lm ]，k L Is the torque coefficient, k L ＝V ref /T Lm 。
1-2. A pulse quantity input PI1 and a digital quantity input DI1.
PI1 input: pulse frequency command as speed command signal for digital servo system
DI1 input: and (3) with
Coordinated movement direction instruction DIR, wherein +.>
Gamma is the frequency coefficient->
1-3. An analog conversion output D/A1; D/A1 output: u (u) n0 ，u n0 ∈[0，V ref ]，u n0 Then the actual speed analog signal u is output by the actual speed analog signal output conditioning unit n The method comprises the following steps:
n is the actualSpeed (I)>
1-4. Three pulse quantity outlets, PO1, PO2, PO3; PO1 and PO2 outputs: ext> twoext> pathsext> ofext> orthogonalext> pulseext> PGext> -ext> Aext> signalsext> andext> PGext> -ext> Bext> signalsext> ofext> incrementalext> photoelectricext> encoderext> PGext> inext> practicalext> systemext>,ext> andext> Next> pulsesext> (ext> NPext> /ext> Rext>)ext> areext> outputext> perext> rotationext>,ext> andext> theext> pulseext> frequencyext> fext> n N/60, po3 output: the flag pulse signal PG-Z signal of one pulse (1P/R) is outputted per revolution.
2-1 reading the moment of inertia signal u of the system from the A/D1 port J ＝k J J∈[0，V ref ]Sampling period is tau s With a time constant τ 0 Computing system moment of inertia after first order inertial filtering:
2-2 reading the System load torque Signal u from the A/D2 port L ＝k L T L ∈[0，V ref ]Sampling period is tau s With a time constant τ 0 Calculating the system load torque after the first-order inertial filtering:
3-1. When the system runs on the analog quantity instruction, the A/D1 port reads the system analog quantity speed instruction conditioning signal
With period tau s With a time constant τ 0 Is calculated after first-order inertial filtering:
and further calculate system speed instructions
3-2, when running in the pulse quantity command, the PI1 port reads the system pulse quantity speed command and the DI1 port reads the movement direction command, and calculates the actual speed command signal and the movement direction thereof:
DIR＝1：
DIR＝0：/>
4. calculating the real-time speed output by a motor speed servo system: setting: the load is constant inertia or slowly varying inertia load, J (k) ≡J (k-1) in one sampling period is set: allowing the relative static difference to be delta and considering the anti-load torque disturbance effect, then:
under the condition of constant torque load, T is at system steady state L (k)＝T L (k-1), then: n (++) n) =n * (∞)。
5. Calculating the speed analog quantity signal u output by the system n0 (k)∈[0，V ref ]：
6. Incremental photoelectric encoder output pulse quantity frequency f for calculating system output speed n (k)、Direction DIR signal (A, B is orthogonal pulse signal, pulse waveform is sent):
wherein the frequency of PG-A, PG-B two paths of square wave pulses is f n (k) The duty cycle is 1:1, the lead-lag relationship between each other depends on the polarity of the actual speed n (k), and PG-Z outputs a flag pulse for each revolution, the frequency of which is f n (k) N, pulse width of 0.5/f n (k)。
The beneficial effects of the invention are as follows:
the invention utilizes the input/output signal interface of MCU (including microcontroller, single-chip microcomputer, DSP, etc.) hardware main board to be compatible with the input/output signal interface of the actual speed servo system, utilizes the calculation method and software which are built in 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-grade product experiment using the speed regulating system, is the experimental study of the following control performance and anti-interference performance of the speed regulating system by students 'skills, is practical in terms of system input/output signal transmission, is the practical connection of students' theories, improves the professional theories and technical skills at the same time, and has low cost, good safety and great experimental application requirements, and wide productive application prospect.
Drawings
FIG. 1 is a block diagram of the I/O interface circuit of the MCU motherboard of the speed servo system semi-simulation intelligent device of the present invention.
Detailed Description
As shown in fig. 1, the motor speed servo system semi-simulation method based on the MCU comprises the following steps:
1-1, three analog A/D conversion input ports, A/D1, A/D2 and A/D3, respectively input: u (u) J ＝k J J∈[0，V ref ]Moment of inertia signal (unit: V), J-moment of inertia of system (unit: nms) 2 )，J∈[0,J m ]，k J ＝V ref /J m Inertia coefficient (unit: V/Nms) 2 )，V ref -reference voltage of a/D, D/a converter (unit: V); u (u) L ＝k L T L ∈[0，V ref ]-system load torque signal (unit: V), T L Load torque (in Nm), T L ∈[0,T Lm ]，k L ＝V ref /T Lm Torque coefficient (unit: V/Nm);
the relation between the speed analog command signal from the upper system and the speed command conditioning signal (unit: V) output to the A/D3 port through the speed analog signal command input conditioning unit is as follows: />
Corresponding to->
Wherein->
Respectively->
n * Maximum value of->
n * -speed command (unit: rpm), α -speed coefficient (unit: V/rpm);
1-2. One pulse quantity inputPort PI1, input:
-pulse frequency command (unit: hz) as a speed command signal for a digital servo system; a digital input DI1, input: DIR- -and->
Coordinated movement direction instructions (dir=1: forward, dir=0: reverse),>
-frequency coefficient (units: hz/rpm);
1-3. An analog D/A1 conversion output port, output: u (u) n0 ∈[0，V ref ]Then the actual speed analog quantity signal u outputted by the conditioning unit is outputted by the actual speed analog signal n (unit: V) is:
1-4. Three pulse quantity output ports, PO1, PO2, PO3, respectively output: ext> twoext> pathsext> ofext> orthogonalext> pulseext> PGext> -ext> Aext> signalsext> andext> PGext> -ext> Bext> signalsext> ofext> incrementalext> photoelectricext> encoderext> PGext> inext> practicalext> systemext>,ext> andext> Next> pulsesext> (ext> NPext> /ext> Rext>)ext> areext> outputext> perext> rotationext>,ext> andext> theext> pulseext> frequencyext> fext> n N|n|/60 (unit: hz), and a flag pulse signal PG-Z signal outputting one pulse (1P/R) per revolution, the pulse frequency of which is: f (f) z = |n|/60 (unit: hz), pulse width is: τ=0.5/f n =30/(Nn) (unit: s).
Step 2, sampling processing of system load parameter set values:
2-1 reading the moment of inertia signal u of the system from the A/D1 port J ＝k J J∈[0，V ref ]Sampling period is tau s (unit: s) with a time constant τ 0 (unit: s) first order inertial post-filter computing system rotationMoment of inertia:
2-2 reading the System load torque Signal u from the A/D1 port L ＝k L T L ∈[0，V ref ]Sampling period is tau s (unit: s) with a time constant τ 0 After first-order inertial filtering of (unit: s), calculating system load torque:
step 3, sampling processing of a speed operation instruction:
3-1. When the system runs on the analog quantity instruction, the A/D1 port reads the system analog quantity speed instruction conditioning signal
With period tau s (unit: s) with a time constant τ 0 First-order inertial filtered calculation of (unit: s):
further calculate the system speed command->
3-2, when running in the pulse quantity command, the PI1 and DI1 ports read the system pulse quantity speed command and the motion direction command, and calculate the actual speed command signal and the motion direction thereof:
DIR＝1：
DIR＝0：/>
step 4, calculating the real-time speed output by the motor speed servo system: setting: the load is constant inertia or slowly varying inertia load, J (k) ≡J (k-1) in one sampling period is set: allowing the relative static difference to be delta and considering the anti-load torque disturbance effect, then:
under the condition of constant torque load, T is at system steady state L (k)＝T L (k-1), then: n (++) n) =n * (∞)。
Step 5, calculating a speed analog quantity signal u output by the system n0 (k)∈[0，V ref ]：
Step 6, calculating the output pulse quantity frequency f of the incremental photoelectric encoder of the output speed of the system n (k) Direction DIR signal (A, B is orthogonal pulse signal, pulse waveform is sent):
wherein the frequency of PG-A, PG-B two paths of square wave pulses is f n (k) The duty cycle is 1:1, the lead-lag relationship between each other depends on the polarity of the actual speed n (k), and PG-Z outputs a flag pulse for each revolution, the frequency of which is f n (k) N, pulse width of 0.5/f n (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 taking MCU 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 the double-closed-loop speed control system taking a speed regulator and a torque regulator as control cores in figure 1, including the response to the input of a speed command (wherein, the command of a simulation speed regulation system is
The digital speed regulating system instruction is +.>
And a movement direction instruction thereof: dir=1: forward rotation, dir=0: reverse rotation), and input to the load disturbance (load torque signal u L ＝k L T L ∈[0，V ref ]The moment of inertia signal is u J ＝k J J∈[0，V ref ]) Is responsive to the anti-tamper effect of (a) the process. The speed command and the load disturbance signal can be set by the upper computer at will, and the analog signal part can be set by the external potentiometer. The speed servo system semi-simulation intelligent device as shown in fig. 1 outputs two paths of speed response signals in real time at the same time:
(1) Speed analog quantity signal transmission of actual system
(2) Speed pulse quantity signal output of an actual system:
1) Two paths of PG-A, PG-B orthogonal pulse signal frequency: f (f) n N|n|/60, (unit: hz);
2) Phase relation of two paths of orthogonal pulse signals of PG-A, PG-B:
ext> whenext> next> >ext> 0ext>,ext> PGext> -ext> Aext> leadsext> PGext> -ext> Bext> byext> oneext> quarterext> ofext> aext> cycleext>:ext> 0.25T n ＝0.25/f n (units: s);
ext> whenext> next> <ext> 0ext>,ext> PGext> -ext> Aext> lagsext> PGext> -ext> Bext> byext> oneext> quarterext> ofext> aext> cycleext>:ext> 0.25T n ＝0.25/f n (units: s);
3) PG-Z flag bit pulse signal: the pulse frequency is as follows: f (f) z = |n|/60 (unit: hz), pulse width is: τ=0.5/f n =30/(Nn) (unit: s).
In addition, when the specific complex control system coordinated by multiple motors needs experimental verification, the speed servo system semi-simulation intelligent device shown in fig. 1 can be used as each execution subsystem in the complex control system, and the physical simulation test of the large system is carried out under the control of the upper controller PLC or IPC, so that the system is a novel scheme of the physical simulation test of the large system, the complexity and cost of the large system are greatly reduced, and the operation condition of the actual system is met.
Although the invention is aimed at the semi-simulation method of the motor speed control system, the same can be easily expanded into the semi-simulation of the position control system and the moment control system, so similar expansion also belongs to the protection scope of the invention.
Claims (1)
1. The motor speed servo system semi-simulation method based on MCU is characterized by that it uses the input/output signal interface of MCU hardware main board to be compatible with input/output signal interface of actual speed servo system, and the MCU hardware main board for simulating speed servo system has the following input/output interface and speed analog signal instruction input conditioning unit and actual speed analog signal output conditioning unit, and uses the calculation method and software which are placed in MCU and can reflect dynamic response process of system to simulate internal working process of actual speed servo system, and includes the following steps:
1-1, three analog A/D conversion input ports, A/D1, A/D2 and A/D3;
a/D1 input: u (u) J ＝k J J∈[0，V ref ]Wherein u is j For moment of inertia signal, J is the moment of inertia of the system, J e [0, J m ]，k j Is the inertia coefficient, k J ＝V ref /J m ，V ref A reference voltage for the A/D, D/A converter;
a/D2 input: u (u) L ＝k L T L ∈[0，V ref ]Wherein u is L For the system load torque signal, T L For load torque, T L ∈[0,T Lm ]，k L Is the torque coefficient, k L ＝V ref /T Lm ；
1-2. A pulse quantity input PI1 and a digital quantity input DI1;
PI1 input: pulse frequency command as speed command signal for digital servo system
DI1 input: and (3) with
Coordinated movement direction instruction DIR, wherein +.>
Gamma is the frequency coefficient->
1-3. An analog conversion output D/A1;
D/A1 output: u (u) n0 ，u n0 ∈[0，V ref ]，u n0 Then the actual speed analog signal u is output by the actual speed analog signal output conditioning unit n The method comprises the following steps:
n is the actual speed, +.>
1-4. Three pulse quantity outlets, PO1, PO2, PO3;
PO1 and PO2 outputs: ext> twoext> pathsext> ofext> orthogonalext> pulseext> PGext> -ext> Aext> signalsext> andext> PGext> -ext> Bext> signalsext> ofext> incrementalext> photoelectricext> encoderext> PGext> inext> practicalext> systemext>,ext> andext> Next> pulsesext> areext> outputext> perext> rotationext>Frequency f n ＝Nn/60，
PO3 output: a marking pulse signal PG-Z signal of one pulse is output every turn;
2-1 reading the moment of inertia signal u of the system from the A/D1 port J ＝k J J∈[0，V ref ]Sampling period is tau s With a time constant τ 0 Computing system moment of inertia after first order inertial filtering:
2-2 reading the System load torque Signal u from the A/D2 port L ＝k L T L ∈[0，V ref ]Sampling period is tau s With a time constant τ 0 Calculating the system load torque after the first-order inertial filtering:
3-1. When the system runs on the analog quantity instruction, the A/D1 port reads the system analog quantity speed instruction conditioning signal
With period tau s With a time constant τ 0 Is calculated after first-order inertial filtering: />
And further calculate system speed instructions
3-2, when running in the pulse quantity command, the PI1 port reads the system pulse quantity speed command and the DI1 port reads the movement direction command, and calculates the actual speed command signal and the movement direction thereof:
4. calculating the real-time speed output by a motor speed servo system: setting: the load is constant inertia or slowly varying inertia load, J (k) ≡J (k-1) in one sampling period is set: allowing the relative static difference to be delta and considering the anti-load torque disturbance effect, then:
under the condition of constant torque load, T is at system steady state L (k)＝T L (k-1), then: n (++) n) =n * (∞)；
5. Calculating the speed analog quantity signal u output by the system n0 (k)∈[0，V ref ]：
The actual speed analog quantity signal u output after the actual speed analog signal is output by the conditioning unit n ∈[-u nm ，+u nm ]：
6. Incremental photoelectric encoder output pulse quantity frequency f for calculating system output speed n (k) Direction DIR signal, wherein PG-A, PG-B is an orthogonal pulse signal, and sends out pulse waveform:
wherein the frequency of two paths of PG-A, PG-B orthogonal pulse signals is f n (k) The duty cycle is 1:1, the lead-lag relationship between each other depends on the polarity of the actual speed n (k), and PG-Z outputs a flag pulse for each revolution, the frequency of which is f n (k) N, pulse width of 0.5/f n (k)。
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