CN113206628A - Device for accurately controlling rotating speed of alternating current servo motor and control method thereof - Google Patents
Device for accurately controlling rotating speed of alternating current servo motor and control method thereof Download PDFInfo
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- CN113206628A CN113206628A CN202110647648.8A CN202110647648A CN113206628A CN 113206628 A CN113206628 A CN 113206628A CN 202110647648 A CN202110647648 A CN 202110647648A CN 113206628 A CN113206628 A CN 113206628A
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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
- H02P23/20—Controlling the acceleration or deceleration
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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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/22—Controlling the speed digitally using a reference oscillator, a speed proportional pulse rate feedback and a digital comparator
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Abstract
The invention discloses a device for accurately controlling the rotating speed of an alternating current servo motor and a control method thereof. The motor speed can be accurately and stably controlled. The circuit structure is simple, the speed acquisition, the current acquisition, the generation of three-phase complementary PWM and the like are realized by the main control single chip microcomputer, and only a few peripheral circuit modules need to be connected. The rotating speed of the motor is controlled by the digital pulse frequency generated by the digital pulse generator, and the digital pulse generator is simple in device. When the feedback speed of the motor is calculated, digital signal filtering processing is carried out, so that the rotating speed of the motor can be kept stable when the motor runs at a high speed. When the feedback speed filtering and the speed loop integration are calculated, decimal precision is reserved in the division operation process, and therefore accumulative errors are avoided.
Description
Technical Field
The invention relates to the field of chemical machinery, in particular to a device for accurately controlling the rotating speed of an alternating current servo motor and a control method thereof.
Background
The alternating current servo motor has the advantages of good stability, strong adaptability, timely acceleration and deceleration dynamic response, less heat consumption, low noise and the like, and is widely applied to the fields of industrial manufacturing such as machine tool manufacturing, automobile manufacturing, casting manufacturing and the like. In industry, an alternating current servo motor is often used, the rotating speed of the motor needs to be regulated, and a system for controlling the rotating speed of the motor generally consists of an inner loop current loop PID and an outer loop speed loop PID. The current loop is the basis of control in order to control the motor torque, and the current loop is in order to control the dynamic response of speed adjustment, makes speed adjustment more steady. However, as the rotation speed of the motor increases, the measurement error of the feedback speed generally affects the stability of the rotation of the motor, and the integral increment in the speed loop PID also causes deviation in speed control due to long-term accumulated error, so that the rotation speed of the motor is deviated, and the rotation speed of the motor cannot be accurately and smoothly controlled.
Disclosure of Invention
In order to overcome the defects, the invention provides a device for accurately controlling the rotating speed of an alternating current servo motor and a control method thereof.
The technical scheme adopted by the invention is as follows:
the utility model provides a device of accurate control alternating current servo motor rotational speed, includes singlechip, difference signal acquisition and opto-coupler isolation module, three-phase PWM drive module, motor encoder, hall sensor. The digital pulse generator is connected with the input of the differential signal acquisition and optical coupling isolation module; the output of the differential signal acquisition and optical coupling isolation module is connected with a pin 16 of the singlechip, and a singlechip counter is used for acquiring digital pulse frequency; pins 51-56 of the single chip microcomputer are connected with the input of the three-phase PWM driving module and used for generating a three-phase PWM waveform and controlling the PWM driving module; the output of the three-phase PWM driving module is connected with a three-phase terminal A/B/C of a three-phase alternating current servo motor; the three-phase alternating current servo motor is provided with a motor encoder; the differential signal output of the motor encoder is connected with the input of the differential signal acquisition and optical coupling isolation module; the output of the differential signal acquisition and optical coupling isolation module is connected with pins 58 and 59 of the single chip microcomputer, and a single chip microcomputer phase counter is used for acquiring the rotating speed of the motor; the Hall sensor is connected to the output of the three-phase PWM driving module; the output of the Hall sensor is connected to pins of a single chip microcomputer 80 and 81, and the current of the motor is collected by using an AD conversion module of the single chip microcomputer.
A control method of a device for accurately controlling the rotating speed of an alternating current servo motor comprises the following steps:
(1) reading the pulse number of a motor encoder at the current time t, and calculating a feedback frequency increment PLSd
PLSd＝(PLSnew-PLSold)*PLSG，
PLS in the equationnewIs the number of pulses, PLS, of the motor encoder read at the present time toldIs the number of encoder pulses read at the last time t-1, PLSG is the motor shaft encoder offset value,
(2) the measurement frequency HZ at the current instant t is updated,
HZ＝HZ+PLSd
(3) the measurement frequency HZ of the current moment t is filtered to obtain a feedback frequency HZF
HZF＝HZF+(HZ-HZF)/HZT，
HZT in the formula is a pulse frequency filtering time constant of a motor shaft encoder, the remainder of division is taken, and the remainder is accumulated when operation is carried out at the next moment t + 1;
(4) calculating the deviation HZ between the set speed and the feedback speed at the current time tdAnd limiting amplitude
HZd＝HZS-HZF，
HZS in the formula is a set value of the speed t of the motor at the current moment, and when HZ is equal tod＞HZSthWhen, HZd＝HZSstepHZS in the formulastepIs the adjustment step setting for speed;
(5) the velocity integral SEK at the current time t is calculated,
SEK＝SEK+HZd/ICR，
ICR is integral coefficient, the remainder of division is taken out, the remainder is accumulated when the operation is carried out at the next time t +1,
(6) calculating speed loop control output HZi
HZi＝HZd*PG+SEK+ZRS，
PG is a scaling factor, ZRS is an offset factor;
(7) by feeding back a frequency increment PLSdCalculating the index value TIM of the sine wave lookup table
TIM＝TIM+PLSd*PHG，
The PHG in the formula is a phase scaling factor per unit time,
(8) obtaining sine value SIN and cosine value COS through index value TIM and lookup table,
(9) calculating the control quantity U of three-phase PWMi，Vi
Ui＝HZM*COS-HZi*SIN，
Vi＝(HZM*SIN+HZi*COS)*√3-Ui)/2，
In the formula, HZM is an imaginary part setting constant,
(10) reading current value U of Hall sensorf，Vf，
(11) Calculating the current deviation Ud，Vd，
Ud＝Ui-Uf，
Vd＝Vi-Vf，
(12) Calculating output control quantity Uo，Vo，WoFor setting the duty ratio of three-phase PWM
Uo＝Ud*IG+ZR，
Vo＝Vd*IG+ZR，
Wo＝Ud*IG+Vd*IG+ZRI，
In the formula, IG is a scaling factor and ZRI is an offset factor.
Has the advantages that: the invention provides a device for accurately controlling the rotating speed of an alternating current servo motor, which can accurately and stably control the speed of the motor. The circuit structure is simple, the speed acquisition, the current acquisition, the generation of three-phase complementary PWM and the like are realized by the main control single chip microcomputer, and only a few peripheral circuits need to be added. The rotating speed of the motor is controlled by the digital pulse frequency generated by the digital pulse generator, and the digital pulse generator is simple in device. When the feedback speed of the motor is calculated, digital signal filtering processing is carried out, so that the rotating speed of the motor can be kept stable when the motor runs at a high speed. When the feedback speed filtering and the speed loop integration are calculated, decimal precision is reserved in the division operation process, and therefore accumulative errors are avoided.
Drawings
Fig. 1 is a circuit configuration diagram of an apparatus for precisely controlling the rotational speed of an ac servo motor.
FIG. 2 is a flow chart of a control method of an apparatus for precisely controlling the rotational speed of an AC servo motor.
Detailed Description
As shown in fig. 1-2: the model of the single chip microcomputer is R5F524U, the model of the differential signal acquisition and optical coupling isolation module is TPL2745, the model of the three-phase PWM driving module is FP25R12KT3, the model of the motor encoder is SJH101B5VL625004P, the model of the three-phase alternating current servo motor is TSM3P7C25, and the model of the Hall sensor is L18P025D 15. The digital pulse generator is connected with the input of the differential signal acquisition and optical coupling isolation module; the output of the differential signal acquisition and optical coupling isolation module is connected with a pin 16 of the singlechip, and a singlechip counter is used for acquiring digital pulse frequency; pins 51-56 of the single chip microcomputer are connected with the input of the three-phase PWM driving module and used for generating a three-phase PWM waveform and controlling the PWM driving module; the output of the three-phase PWM driving module is connected with a three-phase terminal A/B/C of a three-phase alternating current servo motor; the three-phase alternating current servo motor is provided with a motor encoder; the differential signal output of the motor encoder is connected with the input of the differential signal acquisition and optical coupling isolation module; the output of the differential signal acquisition and optical coupling isolation module is connected with pins 58 and 59 of the single chip microcomputer, and a single chip microcomputer phase counter is used for acquiring the rotating speed of the motor; the Hall sensor is connected to the output of the three-phase PWM driving module; the output of the Hall sensor is connected to pins of a single chip microcomputer 80 and 81, and the current of the motor is collected by using an AD conversion module of the single chip microcomputer.
A control method of a device for accurately controlling the rotating speed of an alternating current servo motor comprises the following steps:
(1) reading the pulse number of a motor encoder at the current time t, and calculating a feedback frequency increment PLSd
PLSd＝(PLSnew-PLSold)*PLSG，
PLS in the equationnewIs the number of pulses, PLS, of the motor encoder read at the present time toldIs the number of encoder pulses read at the previous time t-1, PLSG is the motor shaft encoder compensation value, 1 ≦ PLSG ≦ 32
(2) The measurement frequency HZ at the current instant t is updated,
HZ＝HZ+PLSd
(3) the measurement frequency HZ of the current moment t is filtered to obtain a feedback frequency HZF
HZF＝HZF+(HZ-HZF)/HZT，
HZT is a pulse frequency filtering time constant of a motor shaft encoder, HZT is more than or equal to 1 and less than or equal to 100, a remainder of division is taken, and the remainder is accumulated when operation is carried out at the next moment t + 1;
(4) calculating the deviation HZ between the set speed and the feedback speed at the current time tdAnd limiting amplitude
HZd＝HZS-HZF，
HZS in the formula is a set value of the speed t of the motor at the current moment, and when HZ is equal tod＞HZSthWhen, HZd＝HZSstepHZS in the formulastepIs the set value of the adjustment step length of the speed, HZS is more than or equal to 0step≤40；
(5) The velocity integral SEK at the current time t is calculated,
SEK＝SEK+HZd/ICR，
ICR is integral coefficient, ICR is more than or equal to 1 and less than or equal to 100, remainder of division is taken, the remainder is accumulated when operation is carried out at the next moment t +1,
(6) calculating speed loop control output HZi
HZi＝HZd*PG+SEK+ZRS，
In the formula, PG is a proportional coefficient, PG is more than or equal to 10 and less than or equal to 80, ZRS is a bias coefficient, PG is more than or equal to 0 and less than or equal to ZRS and less than or equal to 60;
(7) by feeding back a frequency increment PLSdCalculating the index value TIM of the sine wave lookup table,
TIM＝TIM+PLSd*PHG，
in the formula, PHG is phase proportion coefficient per unit time, and PHG is more than or equal to 0.01 and less than or equal to 100
(8) Obtaining sine value SIN and cosine value COS through index value TIM and lookup table,
(9) calculating the control quantity U of three-phase PWMi，Vi，
Ui＝HZM*COS-HZi*SIN，
Vi＝(HZM*SIN+HZi*COS)*√3-Ui)/2，
In the formula, HZM is an imaginary part setting constant, HZM is more than or equal to 20 and less than or equal to 80,
(10) reading current value U of Hall sensorf，Vf，
(11) Calculating the current deviation Ud，Vd，
Ud＝Ui-Uf，
Vd＝Vi-Vf，
(12) Calculating output control quantity Uo，Vo，WoFor setting the duty ratio of three-phase PWM
Uo＝Ud*IG+ZR，
Vo＝Vd*IG+ZR，
Wo＝Ud*IG+Vd*IG+ZRI，
In the formula, IG is a proportional coefficient, 1 is more than or equal to IG and less than or equal to 100, ZRI is a bias coefficient, and 200 is more than or equal to ZRI is less than or equal to 800.
Claims (2)
1. The utility model provides a device of accurate control alternating current servo motor rotational speed, includes singlechip and peripheral module, its characterized in that: the digital pulse generator is connected with the input of the differential signal acquisition and optical coupling isolation module; the output of the differential signal acquisition and optical coupling isolation module is connected with a pin 16 of the singlechip, and a singlechip counter is used for acquiring digital pulse frequency; pins 51-56 of the single chip microcomputer are connected with the input of the three-phase PWM driving module and used for generating a three-phase PWM waveform and controlling the PWM driving module; the output of the three-phase PWM driving module is connected with a three-phase terminal A/B/C of a three-phase alternating current servo motor; the three-phase alternating current servo motor is provided with a motor encoder; the differential signal output of the motor encoder is connected with the input of the differential signal acquisition and optical coupling isolation module; the output of the differential signal acquisition and optical coupling isolation module is connected with pins 58 and 59 of the single chip microcomputer, and a single chip microcomputer phase counter is used for acquiring the rotating speed of the motor; the Hall sensor is connected to the output of the three-phase PWM driving module; the output of the Hall sensor is connected to pins of a single chip microcomputer 80 and 81, and the current of the motor is collected by using an AD conversion module of the single chip microcomputer.
2. A control method of a device for accurately controlling the rotating speed of an alternating current servo motor is characterized in that: the method comprises the following steps:
(1) reading the pulse number of a motor encoder at the current time t, and calculating a feedback frequency increment PLSd
PLSd＝(PLSnew-PLSold)*PLSG，
PLS in the equationnewIs the number of pulses, PLS, of the motor encoder read at the present time toldIs the number of encoder pulses read at the last time t-1, PLSG is the motor shaft encoder offset value,
(2) the measurement frequency HZ at the current instant t is updated,
HZ＝HZ+PLSd
(3) the measurement frequency HZ of the current moment t is filtered to obtain a feedback frequency HZF
HZF＝HZF+(HZ-HZF)/HZT，
HZT in the formula is a pulse frequency filtering time constant of a motor shaft encoder, the remainder of division is taken, and the remainder is accumulated when operation is carried out at the next moment t + 1;
(4) calculating the deviation HZ between the set speed and the feedback speed at the current time tdAnd limiting amplitude
HZd＝HZS-HZF，
HZS in the formula is a set value of the speed t of the motor at the current moment, and when HZ is equal tod＞HZSthWhen, HZd＝HZSstep，
HZS in the formulastepIs the adjustment step setting for the speed,
(5) the velocity integral SEK at the current time t is calculated,
SEK＝SEK+HZd/ICR，
ICR is integral coefficient, the remainder of division is taken out, the remainder is accumulated when the operation is carried out at the next time t +1,
(6) calculating speed loop control output HZi
HZi＝HZd*PG+SEK+ZRS，
Where PG is the scaling factor, ZRS is the offset factor,
(7) by feeding back a frequency increment PLSdCalculating the index value TIM of the sine wave lookup table
TIM＝TIM+PLSd*PHG，
The PHG in the formula is a phase scaling factor per unit time,
(8) obtaining sine value SIN and cosine value COS through index value TIM and lookup table,
(9) calculating the control quantity U of three-phase PWMi,Vi
Ui＝HZM*COS-HZi*SIN，
In the formula, HZM is an imaginary part setting constant,
(10) reading current value U of Hall sensorf,Vf，
(11) Calculating the current deviation Ud,Vd，
Ud＝Ui-Uf，
Vd＝Vi-Vf，
(12) Calculating output control quantity Uo,Vo,WoFor setting the duty ratio of three-phase PWM
Uo＝Ud*IG+ZR，
Vo＝Vd*IG+ZR，
Wo＝Ud*IG+Vd*IG+ZRI，
In the formula, IG is a scaling factor and ZRI is an offset factor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113848499A (en) * | 2021-09-28 | 2021-12-28 | 珠海格力电器股份有限公司 | Parameter monitoring method and device of driving power supply and driving power supply system |
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| CN113848499A (en) * | 2021-09-28 | 2021-12-28 | 珠海格力电器股份有限公司 | Parameter monitoring method and device of driving power supply and driving power supply system |
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