CN116667718A - Servo motor current high-performance control method, device and system - Google Patents

Servo motor current high-performance control method, device and system Download PDF

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Publication number
CN116667718A
CN116667718A CN202310776128.6A CN202310776128A CN116667718A CN 116667718 A CN116667718 A CN 116667718A CN 202310776128 A CN202310776128 A CN 202310776128A CN 116667718 A CN116667718 A CN 116667718A
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China
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motor current
motor
control
period
current
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张碧陶
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Guangdong Polytechnic Normal University
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Guangdong Polytechnic Normal University
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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
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/12—Control or stabilisation of current

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application relates to a servo motor current high-performance control method, which comprises the following steps: acquiring a set value of motor current and a feedback value of the motor current; and carrying out control algorithm processing integrating the time direction and the period direction based on the set value and the feedback value of the motor current to control the motor current. The application can control the current of the servo motor by a control algorithm which is optimized based on two directions of time and period, so that the output of the motor can track the input value rapidly and accurately, and the rapid and accurate control of the servo motor is realized. The defects of low optimization efficiency and low performance existing in the prior art that the control performance of the motor is optimized based on a single time dimension, namely, the control algorithm is basically designed to drive the following error e (t) to converge to zero along the single time direction t are overcome.

Description

Servo motor current high-performance control method, device and system
Technical Field
The application relates to the technical field of motor control, in particular to a method, a device and a system for controlling high current performance of a servo motor.
Background
The servo motor is widely applied to various automatic equipment such as robots, new energy automobiles, numerical control machine tools and the like, and in order to ensure that various equipment can finish corresponding actions according to instruction requirements, the running angle or distance of the motor is required to be accurately controlled. The traditional control method utilizes a closed-loop control principle, namely, the following error of the motor is driven to be converged to zero by various control algorithms. More than 90% of servo motor control algorithms in the market still adopt PID control algorithms as shown in FIG. 3:
the algorithm principle of the PID is as follows:
，
wherein Ir (t) and I (t) respectively represent the set and feedback motor current at the time t; error (t)/e (t) is the current following error at time t; u (t) is the PID controller output at time t; kp, ki, kd represent parameters of the PID controller.
Besides the classical PID control algorithm, there are other control algorithms, such as an active disturbance rejection control algorithm, an internal model control algorithm, a robust control algorithm, etc., which basically design the following error e (t) function by different mathematical methods to obtain different u (t), and finally drive the following error to converge to zero to accurately control the related variables.
The above-mentioned techniques, whether using a PID control algorithm or other advanced control algorithm, all optimize the control performance of the motor based on a single time dimension, i.e. the control algorithm is designed to drive the following error e (t) to converge to zero along a single time direction t. Therefore, the prior art has the defects of low optimization efficiency and low performance.
Disclosure of Invention
The application aims to at least solve one of the defects in the prior art and provides a method, a device and a system for controlling the current high performance of a servo motor.
In order to achieve the above purpose, the present application adopts the following technical scheme:
specifically, a method for controlling the current high performance of a servo motor is provided, which comprises the following steps:
acquiring a set value of motor current and a feedback value of the motor current;
the control algorithm processing of the fusion time direction and the period direction is carried out based on the set value and the feedback value of the motor current, so as to control the motor current;
specifically, the control algorithm process for fusing the time direction and the period direction based on the set value and the feedback value of the motor current is used for controlling the motor current, comprising,
definition of the definitionAs a follow-up error of the motor current,
，
wherein Is the set value of the motor current; />Is the feedback value of the motor current;
for a pair ofProcessing the output enhancement signal +.>，
，
wherein ,representing the gain factor>Representation pair->Calculating r-order derivative, wherein the value range of r is between (0 and 2);
the control algorithm process is then performed along the cycle direction as follows,
will enhance the signalAnd the state deviation of the motor current at the time of the period direction t of k and k-1Control law of control rate gain processing output at time t of k dimension as input +.>，
，
wherein The control rate gain is formed by a two-dimensional matrix +.>It is determined that the number of the cells,
wherein Representing the state of the motor current at the moment of the period t of k-1, provided by a Memory;
based on control rateCalculating the controller output at time t of k period>，
，
wherein ,the controller output, representing the time of the period t of k-1, is provided by a Memory for storing the state value and output value of the previous period,
based onCombined motor current loop mechanism model->Obtaining the state of the motor current at the moment of the k period t>And the output of the motor current at the moment of the k period t +.>，
；
wherein ,for the state of the motor current at the moment of the k period t, A, B, C is the motor electrical coefficient, which can be obtained by measuring or consulting the motor specifications,/->、/>Is the variation of the electrical coefficient of the motor, d (t) is the external disturbance,is the output of the motor current at the moment of the k period t,/i>Representing the running time of the motor in the periodic direction;
the controller output of the motor can be obtained through the combined type (1) - (4)And further, the control of the motor current is realized, so that the motor current quickly follows the set value.
Further, in particular, the run time of the motor in the cycle directionThe determination is made in accordance with the following manner,
，
where N is the motor speed, f is the current frequency, m is the motor pole pair number, n=60 f/m.
Further, the parameters P for controlling the rate gain are specifically determined as follows,
according to the following matrix inequality equation:
，
in the formula ,；，/>a transposed matrix of d;
and also haveI is an identity matrix,>for a matrix of units of appropriate dimension, +.>Where ts is the sampling time;
if positive definite matrix existsThen it can be calculated that:
。
further, in particular, gain factorAnd its fractional derivative r is determined by solving the following equation,
；
wherein ,for a given cut-off frequency +.>Representation->To the power of r; />Is the phase angle stability margin.
The application also provides a servo motor current high-performance control device, which is applied with the servo motor current high-performance control method and comprises the following steps:
the data acquisition module is used for acquiring a set value of the motor current and a feedback value of the motor current;
and the controller is used for carrying out control algorithm processing integrating the time direction and the period direction based on the set value and the feedback value of the motor current so as to control the motor current.
The application also proposes a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the servo motor current high performance control method.
The beneficial effects of the application are as follows:
the application provides a high-performance control method for the current of a servo motor, which controls the current of the servo motor through a control algorithm based on simultaneous optimization of time and period directions, so that the output of the motor can quickly and accurately track an input value, and the quick and accurate control of the servo motor is realized. The defects of low optimization efficiency and low performance existing in the prior art that the control performance of the motor is optimized based on a single time dimension, namely, the control algorithm is basically designed to drive the following error e (t) to converge to zero along the single time direction t are overcome.
Drawings
The above and other features of the present disclosure will become more apparent from the detailed description of the embodiments illustrated in the accompanying drawings, in which like reference numerals designate like or similar elements, and which, as will be apparent to those of ordinary skill in the art, are merely some examples of the present disclosure, from which other drawings may be made without inventive effort, wherein:
FIG. 1 is a flow chart of a method for controlling high performance of a servo motor current according to the present application;
FIG. 2 is a schematic block diagram of a control algorithm for simultaneously optimizing the current high performance control method of the servo motor based on two directions of time and period;
FIG. 3 is a schematic block diagram of a classical PID control algorithm as described in the background of the application;
fig. 4 is a graph showing the relationship between the output current and the input current value of the motor and time when the motor is running in the embodiment of the method for controlling the current high performance of the servo motor according to the present application.
Detailed Description
The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The same reference numbers will be used throughout the drawings to refer to the same or like parts.
Referring to fig. 1 and 2, embodiment 1 of the present application proposes a method for controlling current high performance of a servo motor, comprising the following steps:
step 110, obtaining a set value of motor current and a feedback value of the motor current;
and 120, performing control algorithm processing integrating the time direction and the period direction based on the set value and the feedback value of the motor current to control the motor current.
In this embodiment 1, the control algorithm that is optimized simultaneously based on the two directions of time and period is used to control the current of the servo motor, so that the output of the motor can quickly and accurately track the input value, and the quick and accurate control of the servo motor can be realized. The defects of low optimization efficiency and low performance existing in the prior art that the control performance of the motor is optimized based on a single time dimension, namely, the control algorithm is basically designed to drive the following error e (t) to converge to zero along the single time direction t are overcome.
Referring to fig. 2, specifically, the control algorithm process for fusing the time direction and the period direction based on the set value and the feedback value of the motor current controls the motor current, including,
definition of the definitionAs a follow-up error of the motor current,
，
wherein Is the set value of the motor current; />Is the feedback value of the motor current;
for a pair ofProcessing the output enhancement signal +.>，
，
wherein ,representing the gain factor>Representation pair->Calculating r-order derivative, wherein the value range of r is between (0 and 2);
the control algorithm process is then performed along the cycle direction as follows,
will enhance the signalAnd the state deviation of the motor current at the time of the period direction t of k and k-1Control law of control rate gain processing output at time t of k dimension as input +.>，
，
wherein The control rate gain is formed by a two-dimensional matrix +.>It is determined that the number of the cells,
wherein Representing the state of the motor current at the moment of the period t of k-1, provided by a Memory;
based on control rateCalculating the controller output at time t of k period>，
，
wherein ,the controller output, representing the time of the period t of k-1, is provided by a Memory for storing the state value and output value of the previous period,
based onCombined motor current loop mechanism model->Obtaining the state of the motor current at the moment of the k period t>And the output of the motor current at the moment of the k period t +.>，
；
wherein ,for the state of the motor current at the moment of the k period t, A, B, C is the motor electrical coefficient, which can be obtained by measuring or consulting the motor specifications,/->、/>Is the variation of the electrical coefficient of the motor, d (t) is the external disturbance,is the output of the motor current at the moment of the k period t,/i>Representing the running time of the motor in the periodic direction;
the controller output of the motor can be obtained through the combined type (1) - (4)And further, the control of the motor current is realized, so that the motor current quickly follows the set value.
As a preferred embodiment of the application, in particular, the run time of the motor in the cycle directionThe determination is made in accordance with the following manner,
，
where N is the motor speed, f is the current frequency, m is the motor pole pair number, n=60 f/m.
As a preferred embodiment of the present application, specifically, the parameter P of the control rate gain is determined as follows,
according to the following matrix inequality equation:
，
in the formula ,；，/>a transposed matrix of d;
and also haveI is an identity matrix,>for a matrix of units of appropriate dimension, +.>Where ts is the sampling time;
if positive definite matrix existsThen it can be calculated that:
。
as a preferred embodiment of the present application, specifically, the gain factorAnd its fractional derivative r is determined by solving the following equation,
，
wherein ,for a given cut-off frequency +.>Representation->To the power of r; />Is the phase angle stability margin.
In a specific example, assume the following mechanism equation for a given motor:
，
setting value:
the given parameters are as follows:
；
then, according to equations (5) and (6), it can be calculated that:
；
calculated according to equation (7):
；
and determining Tp, namely measuring the operation angular displacement of the motor by adopting an encoder and deriving to obtain the motor speed N, and determining Tp according to the formula (4-1). In addition, the two-dimensional controller of the motor can be obtained by substituting the calculated parameters into the formula (4)。
In this example, by applying the high-performance control method for the current of the servo motor provided by the application, and simultaneously optimizing the control performance of the motor along the time direction and the period direction, the obtained result is referred to fig. 4, and we can see from fig. 4 that the second curve (the output current of the motor) does not coincide with the first curve (the input current of the motor) in the first period, and already coincides with the first curve in the second period, which also indicates that the output of the motor in this example accurately tracks the input value in the second period, and has the beneficial effect of rapid and accurate control.
The application also provides a servo motor current high-performance control device, which is applied with the servo motor current high-performance control method and comprises the following steps:
the data acquisition module is used for acquiring a set value of the motor current and a feedback value of the motor current;
and the controller is used for carrying out control algorithm processing integrating the time direction and the period direction based on the set value and the feedback value of the motor current so as to control the motor current.
The application also proposes a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the servo motor current high performance control method.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on this understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or system capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
While the present application has been described in considerable detail and with particularity with respect to several described embodiments, it is not intended to be limited to any such detail or embodiments or any particular embodiment, but is to be construed as providing broad interpretation of such claims by reference to the appended claims in view of the prior art so as to effectively encompass the intended scope of the application. Furthermore, the foregoing description of the application has been presented in its embodiments contemplated by the inventors for the purpose of providing a useful description, and for the purposes of providing a non-essential modification of the application that may not be presently contemplated, may represent an equivalent modification of the application.
The present application is not limited to the above embodiments, but is merely preferred embodiments of the present application, and the present application should be construed as being limited to the above embodiments as long as the technical effects of the present application are achieved by the same means. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the application.

Claims (6)

1. The servo motor current high-performance control method is characterized by comprising the following steps of:
acquiring a set value of motor current and a feedback value of the motor current;
the control algorithm processing of the fusion time direction and the period direction is carried out based on the set value and the feedback value of the motor current, so as to control the motor current;
specifically, the control algorithm process for fusing the time direction and the period direction based on the set value and the feedback value of the motor current is used for controlling the motor current, comprising,
definition of the definitionAs a follow-up error of the motor current,
，
wherein Is the set value of the motor current; />Is the feedback value of the motor current;
for a pair ofProcessing the output enhancement signal +.>，
，
wherein ,representing the gain factor>Representation pair->Calculating r-order derivative, wherein the value range of r is between (0 and 2);
the control algorithm process is then performed along the cycle direction as follows,
will enhance the signalAnd the state deviation of the motor current in the k and k-1 cycle direction t>Control law of control rate gain processing output at time t of k dimension as input +.>，
，
wherein The control rate gain is formed by a two-dimensional matrix +.>It is determined that the number of the cells,
wherein Representing the state of the motor current at the moment of the period t of k-1, provided by a Memory;
based on control rateCalculating the controller output at time t of k period>，
，
wherein ,the controller output, representing the time of the period t of k-1, is provided by a Memory for storing the state value and output value of the previous period,
based onCombined motor current loop mechanism model->Obtaining the state of the motor current at the moment of the k period t>And the output of the motor current at the moment of the k period t +.>，
；
wherein ,for the state of the motor current at the moment of the k period t, A, B, C is the motor electrical coefficient, which can be obtained by measuring or consulting the motor specifications,/->、/>Is the variation of the electrical coefficient of the motor, d (t) is the external disturbance, < >>Is the output of the motor current at the moment of the k period t,/i>Representing the running time of the motor in the periodic direction;
the controller output of the motor can be obtained through the combined type (1) - (4)And further, the control of the motor current is realized, so that the motor current quickly follows the set value.
2. The method of claim 1, wherein the motor is run for a period of timeThe determination is made in accordance with the following manner,
，
where N is the motor speed, f is the current frequency, m is the motor pole pair number, n=60 f/m.
3. The method for controlling the current high performance of a servo motor according to claim 1, wherein the parameter P of the control rate gain is specifically determined as follows,
according to the following matrix inequality equation:
，
in the formula ,；，/>a transposed matrix of d;
and also haveI is an identity matrix,>for an identity matrix of appropriate dimension,where ts is the sampling time;
if positive definite matrix existsThen it can be calculated that:
。
4. according to claim 1The servo motor current high-performance control method is characterized in that the method is specific in gain coefficientAnd its fractional derivative r is determined by solving the following equation,
；
wherein ,for a given cut-off frequency +.>Representation->To the power of r; />Is the phase angle stability margin.
5. A servo motor current high performance control apparatus, characterized in that the servo motor current high performance control method according to any one of claims 1 to 4 is applied, comprising:
the data acquisition module is used for acquiring a set value of the motor current and a feedback value of the motor current;
and the controller is used for carrying out control algorithm processing integrating the time direction and the period direction based on the set value and the feedback value of the motor current so as to control the motor current.
6. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any of claims 1-4.
CN202310776128.6A 2023-06-28 2023-06-28 Servo motor current high-performance control method, device and system Pending CN116667718A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310776128.6A CN116667718A (en) 2023-06-28 2023-06-28 Servo motor current high-performance control method, device and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310776128.6A CN116667718A (en) 2023-06-28 2023-06-28 Servo motor current high-performance control method, device and system

Publications (1)

Publication Number Publication Date
CN116667718A true CN116667718A (en) 2023-08-29

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Country Status (1)

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