CN1194369A - Controlling method and its apparatus for two inertial resonate system - Google Patents

Abstract

A device and a method of controlling the vibrations of a two-inertial resonant system. The method includes the steps of detecting the electrical torque and the speed of a motor to evaluate the speed and the disturbance torque of a load, and a torsional torque generated by a difference in position between the driving means and the load; evaluating the acceleration of the load from the evaluated disturbance torque of the load and the torsional torque, and conducting a PI control by using the difference between the evaluated speed of the load and a reference speed of the load; and controlling the motor by using the difference between the evaluated acceleration of the load and the reference speed of the PI-controlled load.

Description

The control method of two inertial resonate system and device thereof

The present invention relates to a kind of control method and device thereof of two inertial resonate system, particularly relate to the method and the device thereof of the vibration that utilizes state observer to suppress two inertial resonate system.

As shown in Figure 2, on the axle of soft rigidity, be connected with two moment of inertia, be the two inertial resonate system of motor and load, as first approximate model of flexible joint, flexible arm and the universe structure etc. of robot and very important.

The dynamic model of described two inertial resonate system as shown in Figure 3.Wherein, the moment of torsion (T that produces because of the difference of the position of the position of motor and actual loading _T), act on the electric generation moment of torsion (u) of motor and moment of torsion (T as the load torque of motor side _T) difference then determine the actual rotational speed (ω) of motor.

Because described moment of torsion (T _T) as the load torque of load-side and work, therefore, moment of torsion (T _T) and the interference moment of torsion (T that applies from the outside _L) decision actual loading speed (ω after the addition _L).

In two such inertia systems, carry out rapid acceleration after the axle that motor and actual load are connected to soft rigidity is gone up or when slowing down, the position of motor and speed can and the position and the speed of actual loading inequality.

Therefore, if, can reduce the stability of system, and produce vibration with the actuating speed of usual way control motor.

Fig. 4 has been to use PI (proportional integral: the synoptic diagram of the control system of the existing two inertial resonate system of controller Proportional Integral).Wherein, label 20 be in Fig. 3 by modeled two inertial resonate system, label 10 is PI controllers.

The speed that feeds back to described PI controller 10 is not the speed (ω of the actual loading of controlling object _L), normally by sensor to the speed (ω) of motor.

That is, existing P I controller 10 receive that feedback comes by attached to the sensor on the motor to the speed (ω) of motor, the datum velocity (ω of the speed of calculating motor (ω) and load then ^*) between error, this error that calculates calculates with the proportional composition K of error by PI controller 10 _PWith with the proportional composition K of the integration of error _ISum.

The torque command that the output quantity of this PI controller 10 that calculates produces as motor and importing.

When described motor produces with the corresponding moment of torsion of torque command (u), the actual speed (ω of load _L) and the speed (ω) of motor determined the speed (ω of motor by the dynamics of two inertial resonate system shown in Figure 3 ^*) detected again by sensor after, be fed with the error between the datum velocity (ω) of load for calculating.

In so existing control mode, the speed that feeds back to PI controller 10 is not the speed of the actual loading of controlling object, but by attached to the sensor on the motor of drive division to the speed of motor.

Therefore, after going up, the axle that motor and actual loading are connected soft rigidity carries out rapid acceleration or when slowing down, produce the poor of the position of the position of motor and speed and actual loading and speed, because this difference that produces, moment of torsion acts on the motor as load torque, and producing vibration, institute is so that system's instability.

For solving in the control procedure of the two inertial resonate system that only uses above-mentioned PI controller because of producing the problem that vibration reduces system performance, the invention provides a kind of vibration suppressing method and device thereof of two inertial resonate system, infer the speed and the extraneous interference moment of torsion of load by state observer, and presumptive this load-side information can suppress generation of vibration.

For achieving the above object, the present invention detects the moment of torsion of drive unit and position respectively and infers the speed and the extraneous interference moment of torsion of load-side, and the speed of presumptive this load-side and extraneous interference moment of torsion are inferred the acceleration of load, and utilize the datum velocity of load and the difference of the speed of the load-side of inferring to carry out PI control, thereby two inertial resonate system is carried out vibrationless, stable control.This vibration control method comprises the steps: to infer step, detects electric the generation moment of torsion and the position of drive unit respectively, infers the speed and the extraneous interference moment of torsion of load-side; The PI controlled step according to inferring the acceleration that the load-side speed of inferring in the step and extraneous interference torque information are inferred load described, and utilizes the speed of the drive unit of inferring and the difference of load datum velocity to carry out PI control; Utilization is poor the described load datum velocity of inferring the load acceleration of inferring in step and the PI controlled step and being controlled by PI, controls described drive unit.This equipment for inhibiting of vibration comprises: two inertia shaking systems that are connected with drive unit and load on the axle of soft rigidity; Detect the position of the moment of torsion of described drive unit and drive unit and infer the speed of load-side and the state observer of extraneous interference moment of torsion; The load acceleration estimator of the acceleration of inferring load according to the speed and the extraneous interference moment of torsion of the load-side of inferring by described state observer; And, the load datum velocity and the difference of the speed of the load-side of inferring are carried out the PI controller that PI controls.

Brief description of drawings:

Fig. 1 is the dynamic model synoptic diagram of the two inertia resonant control systems that utilize the PI controller that the present invention relates to;

Fig. 2 is the synoptic diagram of general two inertial resonate system;

Fig. 3 is the dynamic model synoptic diagram of two inertial resonate system shown in Figure 2;

Fig. 4 is the dynamic model synoptic diagram of the two inertial resonate system of existing use PI controller.

The following describes the preferred embodiments of the present invention.

Fig. 1 is the dynamic model synoptic diagram of the two inertial resonate system with equipment for inhibiting of vibration that the present invention relates to.

Wherein, label 110 is illustrated on the axle of soft rigidity and is connected with two inertia shaking systems of two moment of inertia, and label 120 expressions detect the moment of torsion (u) of motor and position and infer the speed (ω of load _L) and extraneous interference moment of torsion (T _L) state observer, label 130 expression is inferred the load acceleration estimator of the acceleration of load, the datum velocity (ω that label 140 is represented according to load according to the extraneous interference moment of torsion of inferring by described state observer 120 and the moment of torsion of having inferred ^*) and the speed (ω that has inferred of load _L) the difference PI controller that carries out PI control.

In such invention, if supposition, the extraneous interference moment of torsion (T of two inertial resonate system 120 _L) fix with respect to the time, with loading speed (ω _L), extraneous interference moment of torsion (T _L), electromotor velocity (ω) and moment of torsion (T _T) be taken as state variable, with the generation moment of torsion (T of motor _e) as input, as detectable output, then two inertial resonate system can be represented with the equation of state shown in mathematical expression 1 with electromotor velocity (ω).

[mathematical expression 1] $\stackrel{\·}{x}=\mathrm{Ax}+\mathrm{Bu},y=C^{T}x$

The constant of described mathematical expression 1 and variable are shown in mathematical expression 2.

[mathematical expression 2] $A=\left[\begin{array}{cccc}-\frac{B_L}{J_L}& -\frac{1}{J_L}& \frac{1}{J_L}& 0\\ 0& 0& 0& 0\\ -K& 0& 0& K\\ 0& 0& -\frac{1}{J}& 0\end{array}\right],x=\left[\begin{array}{c}{\mathrm{\ω}}_L\\ T_L\\ T_T\\ \mathrm{\ω}\end{array}\right]B=\left[\begin{array}{c}0\\ 0\\ 0\\ \frac{1}{T_e}\end{array}\right],$

u＝T _e、y＝ω、C ^T＝[0?0?0?1]

In described mathematical expression 2, J represents motor moment of inertia, J _LExpression load moment of inertia, K represents rigidity (stiffness) coefficient.

In the equation of state of two above-mentioned rigidity resonator systems 120, comprise equation of state according to full order observer of the present invention (Full order observer) shown in following mathematical expression 3.

[mathematical expression 3]

In mathematical expression 3,

Be the state of inferring, L is observer's determinant that gains, and is right

Can carry out definition shown in mathematical expression 4 with L.

[mathematical expression 4] $\hat{x}={\[{\widehat{\mathrm{\ω}}}_L{\hat{T}}_L{\hat{T}}_T\widehat{\mathrm{\ω}}\]}^T,={\[l1l2l3l4\]}^T$

Under the definition of described mathematical expression 4, mathematical expression 4 can be expressed as (B wherein shown in mathematical expression 5 with mathematical expression 2 and mathematical expression 3 _LBe worth very for a short time, can ignore).

[mathematical expression 5]

The following describes the gain establishing method of determinant L of observer in the described mathematical expression 4.

At first, determinant A-LC ^TThe available mathematical expression 6 of proper polynomial Δ (s) try to achieve.

[mathematical expression 6] $\mathrm{\Δ}\left(s\right)\stackrel{\mathrm{\Δ}}{=}\det \[\mathrm{sI}-A+L{C}^T\]$ $=s^4+l_4{s}^3+\{-l_3+(\frac{1}{J}+\frac{1}{J_L})K\}{s}^2+(\frac{l_1}{J}+\frac{l_4}{J})\mathrm{Ks}-\frac{l_{2}K}{J_{L}J}$

Wherein, the observer of setting gain should make proper polynomial Δ (s) have quadruple root s=-λ and λ＞0.The relation of the mathematical expression 7 below so just satisfying.

[mathematical expression 7] $\mathrm{\Δ}\left(s\right)=s^4+l_4{s}^3+\{-l_3+(\frac{1}{J}+\frac{1}{J_L})K\}{s}^2+(\frac{l_1}{J}+\frac{l_4}{J_L})\mathrm{Ks}-\frac{l_{2}K}{J_{L}J}$

＝(s+λ) ⁴＝s ⁴+4λs ³+6λ ²s ²+4λ ³s+λ ⁴

[mathematical expression 8]

l ₄＝4λ， $l_3=-6{\mathrm{\&lambda;}}^2+(\frac{1}{J}+\frac{1}{J_L})K,$ $l_2=J(-\frac{l_4}{J_L}+\frac{4{\mathrm{\&lambda;}}^3}{K}),{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A9810578100091.png,A9810578100101.png"\; state="\{\{state\}\}">l</figure-callout>}}_1=-\frac{{\mathrm{\&lambda;}}^4{J}_{L}J}{K}$

The moment of torsion presumed value that utilization is calculated in described mathematical expression 5

, extraneous interference moment of torsion presumed value Come negate to carry the acceleration presumed value with described mathematical expression 1

, then shown in mathematical expression 9.

[mathematical expression 9]

Utilize by shown in mathematical expression 5 and mathematical expression 9 calculate the loading speed presumed value With load acceleration presumed value Weaken in the controller of the present invention of vibration of two inertial resonate system, provide the form of the feedback quantity combination of existing PI controller and load acceleration differential value feedback quantity and observation speed by mathematical expression 10.

[mathematical expression 10]

Wherein, K _P, K _I, K _LRepresent speed proportional gain, storage gain and load acceleration differential value feedback gain respectively.

In described mathematical expression 10, to compare with the actual computation velocity feedback quantity, the effect of observation speed feedback quantity is to weaken the dither that is caused by the error on the speed calculation,

Effect be, weaken oscillation phenomenon that causes by the extraneous interference moment of torsion and the oscillation phenomenon that causes by the moment of torsion that is applied to motor, this moment of torsion that is applied on the motor is caused by the difference of motor position and load situation.

As a result, provide the controller of the vibration that is used to weaken two inertial resonate system by mathematical expression 5, mathematical expression 8, mathematical expression 9 and mathematical expression 10.

As mentioned above, the present invention can utilize observer's theory to infer the speed and the extraneous interference moment of torsion of load-side, and, can utilize the load-side information of inferring to come two inertial resonate system is carried out vibrationless stable control, therefore, in in being applied to various commercial power subsets, can obtain the most stable performance.

Claims (2)

1. the vibration suppressing method of a two inertial resonate system is characterized in that, comprises the steps: to infer step, detects electric the generation moment of torsion and the position of drive unit respectively, infers the speed and the extraneous interference moment of torsion of load-side; Proportional integral (PI) controlled step, according to inferring the acceleration that the load-side speed of inferring in the step and extraneous interference torque information are inferred load, and utilize the speed of the load-side of inferring and the difference of load datum velocity to carry out proportional integral (PI) control described; Controlled step is utilized described and is inferred poor with by the load datum velocity of proportional integral (PI) control of the load acceleration of inferring in step and proportional integral (PI) controlled step, controls described drive unit.

2. the equipment for inhibiting of vibration of a two inertial resonate system is characterized in that, comprising: have two inertia shaking systems that are connected with drive unit and load on the axle of flexibility and rigidity; Detect the position of the moment of torsion of described drive unit and drive unit and infer the speed of load-side and the state observer of extraneous interference moment of torsion; The load acceleration estimator of the acceleration of inferring load according to the speed and the extraneous interference moment of torsion of the load-side of inferring by described state observer; And, the load datum velocity and the difference of the speed of the load-side of inferring are carried out proportional integral (PI) controller that proportional integral (PI) is controlled.

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