CN113131815A - High bandwidth control method for space smart load electric actuator - 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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Abstract
The invention relates to a high bandwidth control method for a space smart load electric actuator, in particular to a control algorithm design for a space detection robot-oriented high bandwidth electric actuator, and belongs to the field of electromechanical servo and control. Firstly, establishing a voltage equation of a permanent magnet synchronous motor, and deducing to obtain a q-axis voltage equation of the motor; and (3) regarding the disturbance term in the q-axis voltage equation and the change caused by the motor parameters as total disturbance, observing by using an extended state observer, and compensating in a linear state error feedback control law to eliminate the disturbance. And the PD controller is used for completing position and speed control on the outer ring, so that the moment, speed and position control of the actuator is finally realized, and the control bandwidth of the actuator is ensured to reach more than 4 KHz.
Description
Technical Field
The invention relates to a high bandwidth control method for a space smart load electric actuator, in particular to a control algorithm design for a space detection robot-oriented high bandwidth electric actuator, and belongs to the field of electromechanical servo and control.
Background
At present, various research units at home and abroad develop abundant research on high-dexterity and high-dynamic space detection robots, but most of the research units still stay in a virtual environment simulation stage for the following two main reasons: 1. there are various uncertainties in the actual physical environment that affect researchers focusing on the study of algorithms. 2. Various optimized control algorithms for high-dynamic detection robots, such as MPC (dynamic control protocol), are finally output as torques acting on each joint, and joint actuators are required to have force control capacity.
The research of space robots, particularly space detection robots, requires an actuator with abundant and accurate torque output. Abundant torque output enables the robot to realize various flexible and rapid movements on the basis of supporting the self weight; and the actuator can better track the output torque of the controller by accurate torque control. More importantly, in order to meet the high dynamic performance of the flexible detection robot, the requirement on the control bandwidth of the motor is usually over 1KHz, and the current common scheme is that a speed reducer with a small reduction ratio is used for connecting a large-torque motor in series, but the control bandwidth of most industrial drivers is only hundreds of Hz, and the performance requirement cannot be met.
Disclosure of Invention
The invention aims to solve the problem that the control bandwidth in the existing smart detection robot actuator cannot meet the use requirement, and provides a high-bandwidth control method for a space smart load electric actuator, which is combined into the actuator based on body sensing, the actuator does not depend on an external sensor, torque control can be realized only by driver current information, the method is adopted to control the actuator, the composite control of speed and position can be realized, the traditional three-loop control is changed into position current double-loop control from a control structure, the dynamic response speed of the actuator is improved, and the control bandwidth is enabled to reach more than 4 KHz.
The purpose of the invention is realized by the following technical scheme.
A high bandwidth control method for a space smart load electric actuator comprises the steps of firstly establishing a voltage equation of a permanent magnet synchronous motor, and deducing to obtain a q-axis voltage equation of the motor; and (3) regarding the disturbance term in the q-axis voltage equation and the change caused by the motor parameters as total disturbance, observing by using an extended state observer, and compensating in a linear state error feedback control law to eliminate the disturbance. And the PD controller is used for completing position and speed control on the outer ring, so that the moment, speed and position control of the actuator is finally realized, and the control bandwidth of the actuator is ensured to reach more than 4 KHz.
A control algorithm for a space smart load electric actuator, the actuator belongs to a body sensing type electric actuator, and is mainly characterized in that torque control is realized by using a self current loop without an external sensor; the actuator mainly comprises a large-torque-density permanent magnet synchronous motor and a low-speed-reduction-ratio (the speed reduction ratio is less than 10) speed reducer which are connected in series and are controlled by an external driver.
The method comprises the following steps: determining a mathematical model of q-axis voltage of the permanent magnet synchronous motor in a dq coordinate system;
the stator voltage equation is:
wherein u isd、uqThe components of the stator voltage on the d axis and the q axis are respectively; i.e. id、iqD and q axis components of the stator current; r is the resistance of the stator winding; psid、ψqD and q axis components of the stator flux linkage; omegaeIs the electrical angular velocity; l isd、LqInductance components of the stator winding on d and q axes are respectively; psifIs the flux linkage of the rotor permanent magnets.
The motor is a surface-mounted motor, the permanent magnets are arranged on the surface of the rotor core, and the air gaps are uniform, so that the magnetic resistance of the AC-DC axis magnetic circuit is the same, and the stator AC-DC axis inductance is the same (L)d＝Lq) Therefore, the d-axis and q-axis use the same controller parameters.
In the controller design, the direct-axis current makes the rotor tend to be aligned, the quadrature-axis current is a key factor for generating electromagnetic torque, and the motor used is a surface-mounted motor and adopts vector control with id being 0. The immunity to the load is mainly dependent on the q-axis, so the ADRC algorithm is used only in the q-axis current loop. The q-axis equation is obtained from equation (2) as follows:
since id is 0, q-axis is not affected by d-axis cross coupling, and a mathematical model for obtaining q-axis voltage is as follows:
when the load of the actuator changes, the rotating speed omega is causedeWill- ωeψf/LqThe term is regarded as a disturbance term, and simultaneously, the resistance R and the inductance L are caused by factors such as motor heating and the likeqCan also be considered as a perturbation term. The resistance R and the inductance L of the motor do not need to be knownqParameters, which are directly considered as disturbances are compensated in the LESF.
Step two: designing a second-order linear Extended State Observer (ESO) for a q-axis voltage equation to observe and obtain a feedback current and an extended state containing the total disturbance, wherein the second-order linear Extended State Observer (ESO) is used for subsequent disturbance compensation;
the current loop can be regarded as a first-order system, and since the extended state observer also comprises an extended state besides system variables, a second-order linear ESO is designed to observe the system state variables of the current loop, and the observer is expressed as follows:
wherein z is1(k) For the k operation period to q-axis current iqAn observed value of z2(k) To the view of the total disturbance of the systemMeasured value, h0Is an operation period, b0＝1/Lq。
To simplify the tuning of the LESO, a method is used herein that simplifies the tuning parameters by introducing the concept of bandwidth. Suppose that the bandwidth of the current loop expansion observer is omega0Both poles of the second-order LESO should be configured at ω0And (3) treating the following components:
λ(s)＝s2+β1s+β2＝(s+ω0)2 (5)
β1＝2ω0，β2＝ω0 2
therefore, parameter adjustment of the extended state observer is simplified to one parameter, the whole observer can be adjusted by adjusting the bandwidth of the system, and the method has great advantages for a high-order state observer with a plurality of adjustable parameters.
Step three: the observed value obtained by observation in the step two is brought into a linear state error feedback control law to compensate the system disturbance, and the system disturbance and the linear extended state observer in the step two form a linear active disturbance rejection controller;
in the step, the observed value is divided into two parts, one part is each state in the system, the current observed value is taken as a feedback variable, and a current loop controller is designed by utilizing an error feedback control law; the other part is the expansion state, namely the observed value of the total disturbance of the system is directly fed into the control law as feed forward to counteract the disturbance and linearize the nonlinear system. Specifically, the formula is shown as follows:
u＝kpe+ki∫e-z2 (6)
where u is the controller output value, kp、kiFor proportional-integral control coefficient, z2For the dilated state, i.e. total perturbation, e is the state error term.
And (5) realizing a control algorithm.
The control algorithm uses a linear active disturbance rejection control algorithm to replace a current loop on the basis of the traditional magnetic Field Orientation Control (FOC), greatly simplifies the parameter adjustment and simultaneously obtains better or similar performance of a PID controller and higher control bandwidth; meanwhile, the PD controller and the position and speed information obtained by feedback are used, so that the position and speed control of the outer ring is realized, the number of control layers is reduced, and the dynamic response capability is greatly improved.
To ensure that the above-mentioned control algorithm capability is exerted, in the engineering implementation of the algorithm, the following settings need to be noted:
1) the operation frequency of the controller needs to be determined according to the bandwidth and the control effect required by the control, and the operation frequency is guaranteed to be as high as possible. Meanwhile, reasonable algorithm simplification is carried out through different implementation modes, and the computing capacity of a hardware platform is fully utilized to realize a high-bandwidth control algorithm.
2) The communication rate between each unit module has a large influence on the control bandwidth of the whole system, and the noise is as small as possible while the system bandwidth needs to be ensured in actual implementation.
3) In practical hardware implementations, the high bandwidth foc algorithm requires that the system PWM frequency be as high as possible to ensure that the high bandwidth control algorithm can be implemented, which is also of particular concern.
Advantageous effects
1) The invention discloses a control algorithm design and implementation for a space smart load electric actuator, which are designed correspondingly aiming at the requirements of the actuator on high force control bandwidth and high dynamic response capability, so that the control bandwidth of the final actuator is 4-5 KHz, and the use requirement is met.
2) The invention uses active disturbance rejection control to replace the traditional pid controller for the motor control algorithm, has stronger parameter insensitivity and disturbance rejection, and obtains better control effect.
3) The position and the speed which are fed back are directly used for proportional differential control, the traditional position and speed double-loop control is replaced, the parameter debugging process is simplified, and the dynamic response speed of the system is improved.
Drawings
FIG. 1 is a schematic diagram of a PCB schematic diagram of a designed FOC driver board and a circuit board in a real object manner;
FIG. 2 is a diagram of the actual current observed value by the second-order linear extended state observer, in which a red curve is a q-axis actual current sampling value and a yellow curve is an observed value;
FIG. 3 is a schematic diagram of a control block of a q-axis current loop first-order active disturbance rejection controller;
fig. 4 is a schematic of the position step response of an actual motor, where the green curve is the position input and the red curve is the position output.
FIG. 5 is a control framework for the overall control algorithm.
Detailed Description
In order to better explain the technical details of the present invention, the following describes the specific implementation of the controller in the single chip microcomputer in a specific embodiment.
Example 1
The known target robot is a four-footed planetary exploration robot with the grade of 10kg, and is provided with four legs, wherein each leg is 0.5m long, 3 degrees of freedom and the robot has 12 degrees of freedom; the weight of each joint actuator is required to be within 500g, the size diameter is less than 10cm, the thickness is less than 5cm, the reduction ratio is less than 10, the rated torque is 6Nm, the peak torque is 18Nm, the maximum rotating speed is 40rad/s, the power is not more than 600w, and the current control bandwidth is not less than 4KHz under the rated torque.
Firstly, component type selection and design of a driver hardware platform are required to be carried out according to the task indexes, and the performance indexes of type selection reference are provided, and mainly comprise the following parts:
1) firstly, calculating indexes such as output torque and power of an actuator according to actual robot performance indexes, and selecting power components such as an MOS (metal oxide semiconductor) tube and a sampling resistor which meet the indexes such as current and voltage according to related indexes and an actual motor;
2) selecting a specific encoder chip according to a specific installation and measurement mode and measurement precision of an actuator encoder, and ensuring the speed and position control precision of the actuator;
3) finally, combining the system control bandwidth, selecting a master control chip, a communication chip and the like which can meet the control frequency, and ensuring high bandwidth and low noise;
the self-made actuator used in the embodiment is formed by connecting a model airplane MOTOR and a planetary reducer in series, the specific model is a CRAZY-MOTOR 8108 brushless direct current MOTOR and the planetary reducer with the reduction ratio of 6, wherein the model numbers of the planetary gear and the sun gear are MISUMI GEFHB0.5-40-5-8-W3 and GEABN0.5-20-8-K-4 respectively, and the gear ring is KHK SI 0.5-100.
The actuator is controlled by adopting a high-bandwidth control method facing a space smart load electric actuator, and the method is specifically realized as follows:
the method comprises the following steps: establishing a q-axis voltage equation;
firstly, parameters such as resistance, inductance and the like of the existing motor are substituted into a q-axis voltage equation to obtain a complete voltage equation, but for the observer, a complete system model is not needed, so that each parameter of the equation does not need to be particularly fine, and only needs to be roughly established.
Step two: the second-order extended state observer for realizing the design in the actual single chip microcomputer system mainly works in the bandwidth omega of the observer0To the adjustment of (2). Firstly, selecting approximate observer bandwidth according to experience and design indexes, and then finely adjusting bandwidth parameters according to waveform of the oscilloscope, so that the bandwidth parameters are as large as possible while observation noise is ensured, and higher observation speed and disturbance compensation are realized.
Fig. 2 shows the effect of observing the iq current value by using the second-order LESO in the actual motor control system, and it can be seen that the LESO well tracks the observed quantity, and the current sampling noise is significantly reduced, so that if the observed value is subjected to state error feedback, the current loop control effect can be better improved.
Step three: in an actual hardware system, a linear state error feedback control rate and feedforward are realized through programming, fig. 3 is a structural block diagram of an iq current loop LADRC algorithm, LESO estimates a system state and a disturbance quantity, and then the system state and the disturbance quantity are output to an object by using linear state error feedback (a PD controller is used here) to complete current loop control. The effect of the step response is shown in fig. 4, and it can be seen that there is no overshoot for the set q-axis current tracking.
Step four: and (5) selecting types of components of the driving board.
Firstly, a hardware platform of the designed controller is selectedAnd the STM32F405RGT6 single chip microcomputer has the highest main frequency of 168MHz, supports multi-path PWM complementary output and meets the requirement of the driving board. The drive board adopts a TI integrated scheme DRV8323 chip, supports the communication of an SPI bus and a main control unit, and internally integrates a three-phase grid driver, a current sampling amplifier and a voltage reduction circuit, thereby reducing the complexity of building discrete elements and saving the area of the drive board. The gain of the current sampling amplifier is adjustable, the gain of the driver is set to be 40V/V, the resistance value of the low-side sampling resistor is 1 milliohm, and the maximum value of the sampled current is larger than 40A. The model of the MOS transistor is TPH2R506PL, high-speed switching can be performed, and in the MOS data manual, the test switching time is only 75 ns. R of the MOSDS(on)The on-resistance of the drain electrode and the source electrode is 1.9 milliohm, the heat emission is smaller, and in the design of the actuator, the MOS surface is connected with the aluminum block through the heat conduction silicone grease, so that the heat dissipation can be better, and the upper limit of the available current is improved. The sampling resistor is a 1 milliohm resistance value, a 1w power PMR25 HZFV 1L00 high-precision sampling resistor and a maximum current of 30A. Finally, a circuit board is manufactured as shown in fig. 1.
The actuator adopts a TLE5012B absolute position type magnetic encoder which is based on an iGMR (giant magneto resistance effect) principle, can detect 360-degree change of a magnetic field parallel to a packaging surface, is internally integrated with an angle calculation module, and can output absolute angle information after digitally processing an original value. Integrates the functions of automatic calibration and temperature compensation, and the working range is between 40 ℃ below zero and 150 ℃. Most importantly, TLE5012B achieves 15-bit angular resolution, has fast signal processing capability and short delay/update rate, and is particularly suitable for accurately determining rotor position in high dynamic applications.
To obtain the rotor speed information, the Angle information obtained from the encoder is differentiated, and since the master frequency is 40kHz, the Angle information obtained from the last control interruption and the current control interruption can be used for differentiation, as shown in equation (7), where dt-1/40 kHz-25 us, AngleoldAnd AnglenowThe angle values of the previous moment and the current moment are respectively. In order to reduce the noise caused by the difference, 40 previous speed values are selected, and moving average filtering is carried out to obtain the current speed value.
Step five: control algorithm implementation and system architecture.
The specific control algorithm of the executive is realized in the stm32 single-chip microcomputer platform as follows: firstly, after the single chip microcomputer is powered on, all used peripheral devices including GPIO, PWM timer, SPI communication, CAN communication and the like are initialized, and then default setting parameters in FLASH are read to complete initialization. The motor then waits for instructions to perform position, speed or torque control.
The overall controller architecture is shown in fig. 5, and mainly includes three interrupts, namely, a PWM control interrupt, a system main control interrupt and a CAN reception interrupt, in a system process. The PWM control interruption generates PWM pulse waves with corresponding frequencies according to the output of the current loop; the method comprises the following steps that motor phase current sampling and position angle sampling work is carried out in the main control interruption of the system, different task modes are selected according to a state machine, and current control is carried out by operating position, speed and torque control and an FOC algorithm under a motor mode; the CAN receiving interruption setting is lower than the frequency of other interruptions, wherein a data segment in frame data contains 8 bytes and comprises expected position, speed and moment information and position and speed control gains transmitted by an upper computer, and CAN transmission is carried out after the CAN receiving interruption is completed, and the current position, speed and current information of an actuator is returned. The CAN bus has the transmission rate of 1Mbps and comprises data segments, and one frame of data comprises 200 bits, so the communication rate is 5 kHz. In order to ensure high communication bandwidth, a plurality of independent CAN networks are used in the smart robot to connect each actuator, and CAN transceiving CAN operate at the speed of 1.2kHz without problems under the condition of actually measuring the series connection of the three actuators.
Because the inductance of the motor winding is very small, about 30 muH, and high-frequency switch switching can be carried out, the maximum PWM frequency of the drive is set to be 40kHz and is synchronous with the switching frequency of the MOS tube, the control bandwidth of a current loop is greatly improved, and the current ripple caused by PWM is reduced. Furthermore, the main control interrupt updates the interrupt using a PWM timer, which resets the interrupt with a timer counter register value set to 1, so that the main control interrupt is at the same frequency as, and synchronized with, the center aligned PWM (which is synthesized by counting up and down), so that current sampling in the main control interrupt can hold the sampling timing at the time the low side is on.
The control algorithm is realized in the main control interruption, the q-axis current and the d-axis current are obtained through calculation according to the three-phase current obtained through sampling, the actually measured q-axis current is observed through an extended state observer to obtain an observed value and a disturbance value, then the observed value and the disturbance value are brought into a linear error state feedback control law to obtain the expected q-axis current and the d-axis current through calculation, finally the three-phase current is obtained through inverse transformation, and the expected q-axis current and the d-axis current are supplied to a motor, so that the complete control is realized.
Through the technical details and the control algorithm, the 4KHz high-bandwidth current loop control is finally realized, and meanwhile, the quick response of position and speed control is ensured.
According to the motor performance, if a model predictive control algorithm is used as an optimization method, the reaction force of the quadruped robot and the ground is calculated, the iteration period is 1ms, the force control is carried out on the motor, and the maximum motion speed of the robot on the flat ground is expected to be 3 m/s.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A high bandwidth control method for a space smart load electric actuator is characterized by comprising the following steps: the actuator belongs to a body sensing type electric actuator and is mainly characterized in that torque control is realized by using a self current loop without an external sensor; the actuator mainly comprises a large-torque-density permanent magnet synchronous motor and a low-speed-reduction-ratio (the speed reduction ratio is less than 10) speed reducer which are connected in series and are controlled by an external driver;
the method comprises the following steps: determining a mathematical model of q-axis voltage of the permanent magnet synchronous motor in a dq coordinate system;
the stator voltage equation is:
wherein u isd、uqThe components of the stator voltage on the d axis and the q axis are respectively; i.e. id、iqD and q axis components of the stator current; r is the resistance of the stator winding; psid、ψqD and q axis components of the stator flux linkage; omegaeIs the electrical angular velocity; l isd、LqInductance components of the stator winding on d and q axes are respectively; psifIs the flux linkage of the rotor permanent magnet;
the motor is a surface-mounted motor, the permanent magnets are arranged on the surface of the rotor core, and the air gaps are uniform, so that the magnetic resistance of the AC-DC axis magnetic circuit is the same, and the stator AC-DC axis inductance is the same (L)d＝Lq) Therefore, the d-axis and the q-axis adopt the same controller parameters;
to achieve disturbance rejection of the load torque, the ADRC algorithm is used in the q-axis current loop, and the q-axis equation is obtained from equation (2) as follows:
since id is 0, q-axis is not affected by d-axis cross coupling, and a mathematical model for obtaining q-axis voltage is as follows:
when the load of the actuator changes, the rotating speed omega is causedeWill- ωeψf/LqThe term is regarded as a disturbance term, and simultaneously, the resistance R and the inductance L are caused by the heating factor of the motorqThe parameter change of (2) is also regarded as a disturbance term to compensate;
step two: designing a second-order linear Extended State Observer (ESO) for a q-axis voltage equation to observe and obtain a feedback current and an extended state containing the total disturbance, wherein the second-order linear Extended State Observer (ESO) is used for subsequent disturbance compensation;
the current loop is regarded as a first-order system, and because the extended state observer also comprises an extended state besides system variables, a second-order linear ESO is designed to observe the system state variables of the current loop, and the observer is expressed as follows:
wherein z is1(k) For the k operation period to q-axis current iqAn observed value of z2(k) As an observed value of the total disturbance of the system, h0Is an operation period, b0＝1/Lq；
Simplifying the setting of the LESO by introducing a concept of bandwidth; bandwidth of current loop extended observer is omega0Both poles of the second-order LESO should be configured at ω0And (3) treating the following components:
λ(s)＝s2+β1s+β2＝(s+ω0)2 (5)
β1＝2ω0，β2＝ω0 2
the parameter adjustment of the extended state observer is simplified to one parameter, and the whole observer can be adjusted by adjusting the bandwidth of the system;
step three: substituting the observed value obtained by observation in the step two into a linear state error feedback control law, compensating system disturbance, and forming a linear active disturbance rejection controller together with the linear extended observer in the step two;
in the step, the estimation value is divided into two parts, one part is each state in the system, a current observation value is taken as a feedback variable, and a current loop controller is designed by utilizing an error feedback control law; the other part is an expansion state, namely the observed value of the total disturbance of the system is directly fed into the control law to be used as feedforward so as to counteract the disturbance, and the formula (3) is linearized; specifically, the formula is shown as follows:
u＝kpe+ki∫e-z2 (6)
where u is the controller output value, kp、kiFor proportional-integral control coefficient, z2Is an expanded state, i.e. total disturbance, e is a state error term;
step four: and C, giving the output value u of the controller to a q axis of the robot actuator through the linear active disturbance rejection controller obtained in the step three, realizing active disturbance rejection control on a current loop, simultaneously ensuring high bandwidth operation frequency, simplifying control of a position loop and a speed loop, and realizing high dynamic performance.
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