CN113206628B - Device for precisely controlling rotating speed of alternating current servo motor and control method thereof - Google Patents
Device for precisely controlling rotating speed of alternating current servo motor and control method thereof Download PDFInfo
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- CN113206628B CN113206628B CN202110647648.8A CN202110647648A CN113206628B CN 113206628 B CN113206628 B CN 113206628B CN 202110647648 A CN202110647648 A CN 202110647648A CN 113206628 B CN113206628 B CN 113206628B
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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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- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a device for precisely controlling the rotating speed of an alternating current servo motor and a control method thereof. The motor rotating speed can be accurately and stably controlled. The circuit structure is simple, the rotation speed acquisition, the current acquisition, the generation of three-phase complementary PWM and the like are realized through the master control singlechip, and only a few peripheral circuit modules are required 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 rotating speed of the motor is calculated, digital signal filtering processing is carried out, so that the rotating speed can be kept stable when the motor runs at a high speed. When the feedback rotation speed filtering and the speed loop integration are calculated, decimal accuracy is reserved in the division operation process, so that accumulated 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 a plurality of industrial manufacturing fields such as machine tool manufacturing industry, automobile manufacturing industry, casting manufacturing industry and the like. The rotation speed of the motor is often required to be regulated when an alternating current servo motor is used in industry, and a system for controlling the rotation speed of the motor is generally composed of an inner loop current loop PID and an outer loop speed loop PID. The current loop is the root of control for controlling the motor torque, and the current loop is used for controlling the dynamic response of speed regulation, so that the speed regulation is smoother. However, as the rotational speed of the motor increases, the measurement error of the feedback speed generally affects the rotational stability of the motor, and the integration increment in the speed loop PID also causes a deviation in speed control due to long-time accumulated error, resulting in deviation of the rotational speed of the motor, and thus, the motor rotational speed cannot be accurately and stably controlled.
Disclosure of Invention
In order to overcome the defects, the invention provides a device for precisely 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 device for precisely controlling the rotating speed of the alternating current servo motor comprises a singlechip, a differential signal acquisition and optical coupling isolation module, a three-phase PWM driving module, a motor encoder and a 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 of the singlechip 16, and a digital pulse frequency is acquired by using a singlechip counter; pins 51-56 of the singlechip are connected with the input of the three-phase PWM driving module and are used for generating three-phase PWM waveforms and controlling the PWM driving module; the output of the three-phase PWM driving module is connected with an A/B/C three-phase terminal of the three-phase alternating current servo motor; a motor encoder is arranged on the three-phase alternating current servo motor; 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 of a singlechip 58 and 59, and the rotation speed of the motor is acquired by using a singlechip phase counter; 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 the 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 precisely controlling the rotating speed of an alternating current servo motor comprises the following steps:
(1) The pulse number of a motor encoder at the current time t is read, and the feedback frequency increment PLS is calculated d
PLS d ＝(PLS new -PLS old )*PLSG，
PLS in the formula new The pulse number of the motor encoder read at the current time t and PLS old Is the number of encoder pulses read at the last time t-1, PLSG is the motor shaft encoder compensation value,
(2) The measurement frequency HZ at the current instant t is updated,
HZ＝HZ+PLS d
(3) The measured frequency HZ at the current time t is filtered to obtain the feedback frequency HZF
HZF＝HZF+(HZ-HZF)/HZT，
HZT in the formula is a pulse frequency filtering time constant of a motor shaft encoder, a remainder of the method is taken, and the remainder is accumulated when the next time t+1 is calculated;
(4) Calculating the deviation HZ of the set speed and the feedback value of the current time t d And limiting amplitude
HZ d ＝HZS-HZF，
HZS in the formula is the set value of the current moment t speed of the motor, and when HZ d >HZS th At the time of HZ d ＝HZS step HZS in the formula step Is the speed adjusting step length setting value;
(5) The integrated speed SEK at the current time t is calculated,
SEK＝SEK+HZ d /ICR，
ICR in the formula is an integral coefficient, the remainder of the division is taken, the remainder is accumulated when the next time t+1 is calculated,
(6) Calculating the speed loop control output HZ i
HZ i ＝HZ d *PG+SEK+ZRS，
PG in the formula is a proportionality coefficient, and ZRS is a bias coefficient;
(7) By feeding back the frequency increment PLS d Calculating index value TIM of sine wave lookup table
TIM＝TIM+PLS d *PHG，
PHG in the formula is the phase proportionality coefficient per unit time,
(8) The lookup table obtains sine values SIN and cosine values COS by means of the index value TIM,
(9) Calculating the control quantity U of the three-phase PWM i ，V i
U i ＝HZM*COS-HZ i *SIN，
HZM in the formula is the imaginary part setting constant,
(10) Reading the current value U of the Hall sensor f ，V f ，
(11) Calculating a current deviation U d ，V d ，
U d ＝U i -U f ，
V d ＝V i -V f ，
(12) Calculating the output control amount U o ，V o ，W o For setting the duty cycle of three-phase PWM
U o ＝U d *IG+ZR，
V o ＝V d *IG+ZR，
W o ＝U d *IG+V d *IG+ZRI，
Where IG is the scaling factor and ZRI is the offset factor.
The beneficial effects are that: the invention provides a device for precisely controlling the rotating speed of an alternating current servo motor, which can precisely and stably control the motor speed. The circuit has simple structure, speed acquisition, current acquisition, three-phase complementary PWM generation and the like are realized through the master control singlechip, and only a few peripheral circuits are needed 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 performed, so that the rotating speed 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 accuracy is reserved in the division operation process, so that accumulated errors are avoided.
Drawings
Fig. 1 is a circuit diagram of a device for precisely controlling the rotational speed of an ac servo motor.
Fig. 2 is a flow chart of a control method of a device for precisely controlling the rotation speed of an ac servo motor.
Detailed Description
As shown in fig. 1-2: model R5F524U of singlechip, model TPL2745 of differential signal collection and opto-coupler isolation module, model FP25R12KT3 of three-phase PWM drive module, model SJH101B5VL625004P of motor encoder, model TSM3P7C25 of three-phase AC servo motor, model L18P025D15 of 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 of the singlechip 16, and a digital pulse frequency is acquired by using a singlechip counter; pins 51-56 of the singlechip are connected with the input of the three-phase PWM driving module and are used for generating three-phase PWM waveforms and controlling the PWM driving module; the output of the three-phase PWM driving module is connected with an A/B/C three-phase terminal of the three-phase alternating current servo motor; a motor encoder is arranged on the three-phase alternating current servo motor; 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 of a singlechip 58 and 59, and the rotation speed of the motor is acquired by using a singlechip phase counter; 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 the 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 precisely controlling the rotating speed of an alternating current servo motor comprises the following steps:
(1) The pulse number of a motor encoder at the current time t is read, and the feedback frequency increment PLS is calculated d
PLS d ＝(PLS new -PLS old )*PLSG，
PLS in the formula new The pulse number of the motor encoder read at the current time t and PLS old The number of encoder pulses read at the previous time t-1 is PLSG (pulse signal generator) motor shaft encoder compensation value, and PLSG is more than or equal to 1 and less than or equal to 32
(2) The measurement frequency HZ at the current instant t is updated,
HZ＝HZ+PLS d
(3) The measured frequency HZ at the current time t is filtered to obtain the feedback frequency HZF
HZF＝HZF+(HZ-HZF)/HZT，
HZT in the formula is a pulse frequency filtering time constant of a motor shaft encoder, HZT is not less than 1 and not more than 100, the remainder of the method is taken, and the remainder is accumulated when the next time t+1 is calculated;
(4) Calculating the deviation HZ of the set speed and the feedback value of the current time t d And limiting amplitude
HZ d ＝HZS-HZF，
HZS in the formula is the set value of the current moment t speed of the motor, and when HZ d >HZS th At the time of HZ d ＝HZS step HZS in the formula step Is the setting value of the speed adjusting step length, which is not less than 0 HZS step ≤40；
(5) The integrated speed SEK at the current time t is calculated,
SEK＝SEK+HZ d /ICR，
ICR in the formula is an integral coefficient, ICR is not less than 1 and not more than 100, the remainder of the method is taken, the remainder is accumulated when the next time t+1 is calculated,
(6) Calculating the speed loop control output HZ i
HZ i ＝HZ d *PG+SEK+ZRS，
PG is a proportionality coefficient which is more than or equal to 10 and less than or equal to 80, ZRS is a bias coefficient which 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 the frequency increment PLS d Calculating an index value TIM of the sine wave lookup table,
TIM＝TIM+PLS d *PHG，
PHG in the formula is the phase proportionality coefficient of unit time, and PHG is more than or equal to 0.01 and less than or equal to 100
(8) The lookup table obtains sine values SIN and cosine values COS by means of the index value TIM,
(9) Calculating the control quantity U of the three-phase PWM i ，V i ，
U i ＝HZM*COS-HZ i *SIN，
HZM in the formula is an imaginary part setting constant, HZM is more than or equal to 20 and less than or equal to 80,
(10) Reading the current value U of the Hall sensor f ，V f ，
(11) Calculating a current deviation U d ，V d ，
U d ＝U i -U f ，
V d ＝V i -V f ，
(12) Calculating the output control amount U o ，V o ，W o For setting the duty cycle of three-phase PWM
U o ＝U d *IG+ZR，
V o ＝V d *IG+ZR，
W o ＝U d *IG+V d *IG+ZRI，
In the formula, IG is a proportionality coefficient which is not less than 1 and not more than 100, and ZRI is a bias coefficient which is not less than 200 and not more than ZRI and not more than 800.
Claims (1)
1. A control method of a device for precisely controlling the rotating speed of an alternating current servo motor is characterized by comprising the following steps: the method comprises the following steps:
(1) The pulse number of a motor encoder at the current time t is read, and the feedback frequency increment PLS is calculated d
PLS d ＝(PLS new -PLS old )*PLSG，
PLS in the formula new The pulse number of the motor encoder read at the current time t and PLS old Is the number of encoder pulses read at the last time t-1, PLSG is the motor shaft encoder compensation value,
(2) The measurement frequency HZ at the current instant t is updated,
HZ＝HZ+PLS d
(3) The measured frequency HZ at the current time t is filtered to obtain the feedback frequency HZF
HZF＝HZF+(HZ-HZF)/HZT，
HZT in the formula is a pulse frequency filtering time constant of a motor shaft encoder, a remainder of the method is taken, and the remainder is accumulated when the next time t+1 is calculated;
(4) Calculating the deviation HZ of the set speed and the feedback value of the current time t d And limiting amplitude
HZ d ＝HZS-HZF，
HZS in the formula is the set value of the current moment t speed of the motor, and when HZ d ＞HZS th At the time of HZ d ＝HZS step ，
HZS in the formula step Is the setting value of the speed adjusting step length,
(5) The integrated speed SEK at the current time t is calculated,
SEK＝SEK+HZ d /ICR，
ICR in the formula is an integral coefficient, the remainder of the division is taken, the remainder is accumulated when the next time t+1 is calculated,
(6) Calculating the speed loop control output HZ i
HZ i ＝HZ d *PG+SEK+ZRS，
Where PG is a scaling factor, ZRS is a bias factor,
(7) By feeding back the frequency increment PLS d Calculating index value TIM of sine wave lookup table
TIM＝TIM+PLS d *PHG，
PHG in the formula is the phase proportionality coefficient per unit time,
(8) The lookup table obtains sine values SIN and cosine values COS by means of the index value TIM,
(9) Calculating the control quantity U of the three-phase PWM i ，V i
U i ＝HZM*COS-HZ i *SIN，
HZM in the formula is the imaginary part setting constant,
(10) Reading the current value U of the Hall sensor f ，V f ，
(11) Calculating a current deviation U d ，V d ，
U d ＝U i -U f ，
V d ＝V i -V f ，
(12) Calculating the output control amount U o ，V o ，W o For setting the duty cycle of three-phase PWM
U o ＝U d *IG+ZR，
V o ＝V d *IG+ZR，
W o ＝U d *IG+V d *IG+ZRI，
Where IG is the scaling factor and ZRI is the offset factor.
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