CN1918523A - System and method for adjusting a pid controller in a limited rotation motor system - Google Patents
System and method for adjusting a pid controller in a limited rotation motor system Download PDFInfo
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- CN1918523A CN1918523A CN 200580002913 CN200580002913A CN1918523A CN 1918523 A CN1918523 A CN 1918523A CN 200580002913 CN200580002913 CN 200580002913 CN 200580002913 A CN200580002913 A CN 200580002913A CN 1918523 A CN1918523 A CN 1918523A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
An adjustment system is disclosed for adjusting a proportional, integral, derivative controller in a limited rotation motor system. The adjustment system includes a first transform unit, a second transform unit, a model identification unit, and a PID adjustment unit. The first transform unit is for receiving a first digital signal that is representative of a motor control signal, and is for providing a first frequency domain sequence that is representative of a frequency domain representation of the motor control signal. The second transform unit is for receiving a second digital signal that is representative of a position detection signal, and is for providing a second frequency domain sequence that is representative of a frequency domain representation of the position detection signal. The model identification unit is for identifying a representation of a ratio of the first and second frequency domain sequences. The PID adjustment unit is for identifying appropriate values for the coefficient kp of a proportional unit of the system, for the coefficient ki of an integral unit for the system, and for the coefficient kd of a derivative unit for the system.
Description
The application requires the U.S. Provisional Patent Application series number 60/538 of proposition on January 23rd, 2004,842 right of priority, and require the U.S. Provisional Patent Application series number 60/575 that proposed on May 28th, 2004,255 right of priority, and the right of priority that requires the U.S. Provisional Patent Application series number 60/613,962 of proposition on September 28th, 2004.
Background technology
The present invention relates generally to the limited rotation motor system, relate in particular to the system and method that is used to diagnose and regulate the limited rotation motor system.
Limited rotation motor generally comprises stepper motor and constant speed motor.Some stepper motor also is suitable for the application of the high duty ratio sawtooch sweep of requirement high speed and wide angle scanning.For example, United States Patent (USP) NO.6,275,319 disclose a kind of optical scanner that raster scanning is used that is used for.
Yet, be used for the limited rotation motor of some application, require rotor to move between the two positions with accurate and constant speed rather than stepping and fixing (settling) by the sawtooth mode.It is short as much as possible that these application requirements reach the required time of constant speed, and the margin of error of the speed that obtains is as much as possible little.Constant speed motor generally provides higher torque constant and typically comprises rotor and the driving circuit that is used to rotor is rotated around central shaft, and position transducer, for example, velocity gauge or position transducer, and with the feedback circuit of converter coupling, it allows rotor to be driven by the driving circuit that input signal and feedback signal are responded.For example, United States Patent (USP) NO.5,424,632 disclose the bipolar limited rotation motor of a kind of routine.
Limited rotating torques motor can add that several flexible modes and low frequency nonlinear effect come modeling or expression by the double integrator model.Be used for galvanometric a kind of typical closed-loop servo-drive system and comprise the notch filter that is used for the probabilistic integral action of low frequency and is used for high-frequency resonant mode.System is selected to operate in intermediate frequency range, and it is well modeled that system can use the rigidity entity in this scope.For double integrator rigid body model, between the crossover frequency on open-loop gain and the frequency response curve, direct relation is arranged.For example, at Y.H.Huang in 1996, S.Weerasooriya and T.S.Low, " the Autotuning of aservowriter head positioning system with minimum positioningerror " of J.Applied Physics v.79pp.5674-5676 in the disclosed automatic tuning system that is used for the servo-recorder magnetic head positioning system.
Fig. 1 has illustrated the limited rotating torques electric system 10 of prior art.System 10 comprises the controller 12 (for example, position, integration, differential or PID controller) that receives input command 14.Controller 12 provides control signal to motor 16, and it moves such as the optical element of catoptron so that the position change 18 of response input command 14 to be provided.This system also comprises the position detector 20 that position detection signal 22 is provided, and position detection signal 22 is provided for controller 12 equally with input command 14.If controller can not self-adaptation these change, the open-loop gain of system (or 0dB intersect change) will influence the closed-loop system performance.
For example, this limited rotation motor can be used in the various laser scannings application, such as high speed surface metrology.Other laser treatment is used and is comprised laser bonding (for example, high speed spot welding), surface treatment, cutting, boring, mark, trimming, laser preparing, fast shaping, formation microstructure, or forms the nanostructured of dense arrangement on various materials.
Yet the use of limited rotating torques motor after limited proved an abortion.When more being difficult to develop the method that drives limited rotation motor, failure may arrive when not expecting.The ability of measuring the state of limited rotation motor helps the life-span of pre-measured motor.In addition, hope can be at the state of in-situ measurement limited rotation motor and be need not motor and return factory and analyze.
Therefore, need a kind of method of monitoring limited rotating torques motor, and especially need a kind of health status and method of life of diagnosing limited rotating torques motor.
Summary of the invention
According to an embodiment, the invention provides a kind of diagnostic system that is used to analyze the limited rotation motor system.This diagnostic system comprises first converter unit, second converter unit, closed loop frequency response unit and diagnostic system.Described first converter unit is used to receive first digital signal of expression motor control signal, and the Electric Machine Control frequency-region signal that is used to provide expression motor control signal frequency domain representation.Described second converter unit is used to receive second digital signal of expression position detection signal, and the position probing frequency-region signal that is used to provide the frequency domain representation of representing position detection signal.Described closed loop frequency response unit is used to discern the expression in response to the frequency response of the limited rotation motor of position probing frequency-region signal and Electric Machine Control frequency-region signal.Described diagnosis unit is used for the expression of the frequency response in advance of the expression of comparison frequency response and precedence record, to discern the error condition of relevant limited rotation motor system.
Description of drawings
Can further understand following description with reference to the accompanying drawings, wherein:
Fig. 1 shows the schematic illustrations functional diagram according to the limited rotation motor of prior art and control system;
Fig. 2 shows the schematic illustrations functional diagram of limited rotation motor according to an embodiment of the invention and diagnostic system;
Fig. 3 A and Fig. 3 B show the pseudo-random binary sequence pumping signal that offers electric machine controller, and motor responds this pseudo-random binary sequence and the schematic figure of the relevant position detection signal that produces is represented;
Fig. 4 shows the schematic illustrations of diagnosis unit according to an embodiment of the invention and represents;
Fig. 5 shows the schematic figure of the practical frequency response of system according to an embodiment of the invention and represents;
Fig. 6 shows the schematic figure that some embodiment according to the present invention shows the practical frequency response of the variation in the LF-response and represents;
Fig. 7 shows the schematic figure of the practical frequency response of showing the variation in the torque constant according to another embodiment of the invention and represents;
Fig. 8 shows according to another embodiment of the present invention and shows that the schematic figure of the practical frequency response of asymmetric performance represents;
Fig. 9 shows the schematic illustrations functional diagram according to limited rotation motor of another embodiment of the present invention and diagnostic system;
It only is for illustrative purpose that accompanying drawing is shown.
Embodiment
According to various embodiments of the present invention, the limited rotation motor performance data is caught from electric system, and analyzes these data so that determine the diagnosis of the various states of possibility negative effect system performance.In one embodiment, determine the Bode diagram (Bode plot) of amplitude of the output signal of response incoming symbol waveform for all working frequency.This figure goes up and determines in a very little scope (for example＜1 degree).Another figure can determined afterwards on the different scopes or on same scope.Relatively these figure produce the useful information of relevant galvanometer system.For example, on the same scope along with the inconsistency on the past low frequency of time may indicate imminent bearing (bearing) fault.Along with the inconsistency on the past intermediate frequency of time may indicate significant loss in the torque constant.Inconsistency on the different piece (for example ,+1 comparing with-1 to-20 degree scope to+20 degree scopes) of frequency range may indicate asymmetric performance.
The common cause of limited rotation motor fault is a bearing fault, and it typically took place gradually along with the past of time.Other problems in the operational process may comprise the symmetric variation that torque constant changes or the motor response responds about the zero degree position.
According to various embodiments of the present invention, the limited rotation motor performance data is caught from electric system.Pseudo-random binary sequence (PRBS) pumping signal is imported into system.The signal (motor input signal) that is input to motor is recorded, and has also write down the position signalling (PD signal) that receives from position detector simultaneously.On each signal, carry out fast Fourier transform (FFT), represent that by the frequency response that obtains the PD signal ratio of representing with the frequency response of motor input signal comes the expression of these two signals of comparison.This ratio provides the sequence (ratio sequence) of expression to the open-loop frequency response of system.Open-loop frequency response can provide with the Bode diagram form of amplitude and frequency.So just produced the mathematic system model of an expression electric system transfer function.Because known special time is used for the mathematical model and the motion angle scope of electric system, thus allow diagnostic system that this mathematical model is compared with being used for other early stage models of using, and/or compare with other positions along the rotor rotating range.
The identifier of the open loop cross over frequency variations in this system's supposition electric system can be identified (even by digital remote network) automatically.Automatically identification can be carried out so that the stability of system can not be affected in this process on closed loop ground.Data-gathering process can be finished in Millisecond.
Automatic recognition system according to an embodiment of the invention can comprise the system incentive that uses pseudo-random binary sequence (PRBS), so just produces a fast fourier transform on the time response of catching.Use the system identification of FFT data modeling then.
Fig. 2 shows the illustrative diagrammatic view of system 30 according to an embodiment of the invention.System 30 comprises the PID controller 32 that receives input command 34.Controller 32 provides control signal 35 to motor 36, and it moves optical element such as catoptron so that the change in location 38 in response to input command 34 to be provided.System 30 also comprises the position detector 40 that position detection signal 42 is provided, and signal 42 equally offers controller 42 with input command 34.Controller 32 comprises proportional amplifier 44 (k
p), integral element 46 (k
i) and differential element 48 (k
d).System also comprises the motor control signal that reception is provided by controller 32 and the diagnosis unit 50 of position detection signal 42, and output error signal 52.In diagnosis unit 50 motor control signal and position detection signal be with digital form offer the FFT transducer so that determine closed loop frequency response, and obtain open-loop frequency response by this closed loop frequency response.
Especially, pseudo-random binary sequence (PRBS) or be input in the system or a disturbance as controller 32 output is provided as input command 34.The data point that is used for the PRBS pumping signal may be 2 power.Fig. 3 A shows a PRBS signal at 60 places, and the position probing that is provided by motor in response to this PRBS signal shown in Fig. 3 A is provided at 62 places Fig. 3 B.For example, input process can be each input signal and catches 1024 data points.In a further embodiment, can use the pumping signal of other type, for example white noise generator pumping signal, Gassian noise generator pumping signal, or the scanning sinusoidal excitation signal of sinusoidal signal is provided on whole frequency.
As shown in Figure 4, if any of control signal 35 of being caught and position detection signal 42 has not been digital form, these two signals can be converted to digital signal by A/D converter 54 and 56.In case input signal is a digital form, they can for example arrive any distance by Network Transmission, and output PID conditioning signal also can be by Network Transmission under digital environment.Numeral input time-domain signal is converted to signal frequency-domain by FFT converter unit 64 and 66 respectively and represents.Each FFT provides a
0w
0, a
1w
1, a
2w
2A
nw
nThe complicated polynomial expression of form, wherein n for example can be 512.The a that is used for position detection signal 42
0, a
1, a
2A
nValue and each a that is used for control signal
0, a
1, a
2A
nThe ratio sequence of value generates amplitude sequence m
0, m
1, m
2M
nThis ratio sequence is provided by ratio sequence unit 68.These amplitudes m
0, m
1, m
2M
nOpen loop frequency to this system responses is provided, and can as among Fig. 5 shown in 90 with the graphic form curve representation.As shown in Figure 5, system may experience some distortion at low frequency 92 places, and 94 places experience some harmonic resonances at high frequency, and can be operated in intermediate frequency range 96.Data aggregation may require a very short time, and is 13.44 microseconds to 1024 PBRS sequences for example.
Determined open-loop frequency response, system can store that these responses are used for subsequently the past more in time and the identification that takes place changes so.Especially, system can generate also more current response of closed loop frequency response and previous response periodically, as determined in the comparing unit 70.If in low-frequency range (as determined in by low-frequency analysis unit 72) great change has taken place, so system will discern as the bearing shown in 74 in the potential problems that exist.Fig. 6 has illustrated two closed loop frequency responses 100 and 102.Response 100 is prior to responding 102 record sometime.As shown in Figure 6, indicating that as the great change that in the low-frequency range shown in 104, takes place bearing is just beginning to damage.
If in intermediate frequency range (as determined in by intermediate frequency analytic unit 76) great change has taken place, system will identify torque constant and change so, shown in 78.Fig. 7 has illustrated two closed loop frequency responses 110 and 112.Response 110 is prior to responding 112 record sometime.As shown in Figure 7, because the displacement in the response curve, as the indication of 114 places, great change occurs in the place, point of crossing of designated magnitude.The change of the torque constant of this variation indication mechanism of intersection dibbling.
System also can compare closed loop frequency response and closed loop frequency response to other range section (for example+20 spend-20 degree).Determine closed loop frequency response if utilize less than the moving range of 1 degree, the many points along this scope can be determined so.As shown in Figure 4, closed loop frequency response can (at comparer 80 places) be compared to the closed loop frequency of other range section with (for example, direct-recording previously) that write down before.If change greater than threshold variation (determined), so just by asymmetric cell 84 mark error states as unit 82.For example, Fig. 8 show in scope-20 spend+the symmetric torque constant of expectations on 20 degree represent 120 and the actual measurement torque constant on same scope represent 122.As shown in the figure, spend-20+20 degree scopes in, the actual measurement torque constant is about 0 degree angle symmetry.If do not detect, the performance of this asymmetry negative effect limited rotation motor seriously.In case detect, system or make adjustment only to use in this scope about point-symmetric part wherein perhaps sets up PID for different piece in this scope is actual and regulates.
As shown in Figure 9, be used for to comprise the PID controller 132 that receives input command 134 according to the diagnostic system of the limited rotation motor system 130 of further embodiment of the present invention.Controller 132 provides control signal 135 to motor 136, and it moves such as the optical element of catoptron so that change in location 138 in response to input command 134 is provided.System 130 also comprises the position detector 140 that position detection signal 142 is provided, and signal 142 and input command 134 equally also offer controller 142.Controller 132 comprises proportional amplifier 144 (k
p), integral element 146 (k
i) and differential element 148 (k
d).This system also comprises the motor control signal that reception is provided by controller 132 and the diagnosis unit 150 of position detection signal 142.Motor control signal and position detection signal are to offer the FFT converter so that determine closed loop frequency response with digital form in diagnosis unit 150, and obtain open-loop frequency response by this closed loop frequency response.
In the embodiment of Fig. 9, diagnosis unit 150 is determined a suitable adjusting for the PID controller so that adapt to Comparative Examples unit, integral unit and/or differentiation element respectively at the coefficient k of the correction of the error state that is detected
p, k
i, k
dThe required change of making.For example, if detected error state command torque constant has been changed for example 2 coefficient, each k so
p, k
iAnd k
dCoefficient also increases by 2 coefficient doubly.Therefore, if system's 130 supposition identify certain error state, system just can attempt proofreading and correct at detected error state so.
It will be understood by those of skill in the art that and can make many modifications and changes top the disclosed embodiments, but without departing from the spirit and scope of the present invention.
Claims (21)
1, a kind of diagnostic system that is used to analyze the limited rotation motor system, described diagnostic system comprises:
First converting means is used to receive first digital signal of expression motor control signal, and the Electric Machine Control frequency-region signal that is used to provide the frequency domain representation of representing described motor control signal;
Second converting means is used to receive second digital signal of expression position detection signal, and the position probing frequency-region signal that is used to provide the frequency domain representation of representing described position detection signal;
The closed loop frequency response device is used to discern the expression in response to the frequency response of the limited rotation motor of described Electric Machine Control frequency-region signal and described position probing frequency-region signal; And
Diagnostic device is used for the expression of the frequency response in advance of the expression of more described frequency response and precedence record, to discern the error condition of relevant described limited rotation motor system.
2, system according to claim 1, each of wherein said first converting means and described conversion receiving trap all carried out fast fourier transform.
3, system according to claim 1, wherein the expression of the described frequency response by the identification of described closed loop frequency response device comprises the ratio of described position probing frequency-region signal and described Electric Machine Control frequency-region signal.
4, system according to claim 3, wherein said ratio provides divided by described Electric Machine Control frequency-region signal by described position probing frequency-region signal.
5, system according to claim 1, wherein said diagnostic device is made comparisons the low-frequency range and the described frequency response in advance of described frequency response.
6, system according to claim 5, wherein said diagnostic device provides the fault bearing error signal in the danger of indicating bearing whether to be in fault.
7, system according to claim 1, wherein said diagnostic device is made comparisons the intermediate frequency range and the described frequency response in advance of described frequency response.
8, system according to claim 7, wherein said diagnostic device provides the torque constant error signal of the variation in the torque constant of indicating described limited rotation motor.
9, system according to claim 1, wherein said diagnostic device provides the asymmetric error signal, and whether described asymmetric error signal indicates the moving range of rotating shaft of described limited rotation motor asymmetric about described torque constant.
10, system according to claim 1, wherein said limited rotation motor system comprises ratio, integration, derivative controller.
11, system according to claim 10, wherein said diagnostic device provides correction signal for described ratio, integration, derivative controller.
12, a kind of diagnostic system that is used to analyze the limited rotation motor system, described diagnostic system comprises:
The one FFT device is used to receive first digital signal of expression motor control signal, and is used to a plurality of frequencies that the Electric Machine Control frequency domain sequence of the frequency domain representation of the described motor control signal of expression is provided;
The 2nd FFT device is used to receive second digital signal of expression position detection signal, and is used to described a plurality of frequency that the position probing frequency domain sequence of the frequency domain representation of the described position detection signal of expression is provided;
The closed loop frequency response device is used to discern the expression in response to the frequency response of described a plurality of frequencies of the limited rotation motor of described Electric Machine Control frequency-region signal and described position probing frequency-region signal; And
Diagnostic device is used for more described frequency response and represents expression with the frequency response in advance of precedence record, to discern the error condition of relevant described limited rotation motor system.
13, system according to claim 12, wherein the expression of the described frequency response by the identification of described closed loop frequency response device comprises the ratio of described position probing frequency-region signal and described Electric Machine Control frequency-region signal.
14, system according to claim 13, wherein said ratio provides divided by described Electric Machine Control frequency-region signal by described position probing frequency-region signal.
15, system according to claim 12, wherein said diagnostic device is made comparisons the low-frequency range and the described frequency response in advance of described frequency response.
16, system according to claim 15, wherein said diagnostic device provides the fault bearing error signal in the danger of indicating bearing whether to be in fault.
17, system according to claim 12, wherein said diagnostic device is made comparisons the intermediate frequency range and the described frequency response in advance of described frequency response.
18, system according to claim 17, wherein said diagnostic device provides the torque constant error signal of the variation in the torque constant of indicating described limited rotation motor.
19, system according to claim 12, wherein said diagnostic device provides the asymmetric error signal, and whether described asymmetric error signal indicates the moving range of rotating shaft of described limited rotation motor asymmetric about described torque constant.
20, system according to claim 12, wherein said limited rotation motor system comprises ratio, integration, derivative controller.
21, system according to claim 20, wherein said diagnostic device provides correction signal for described ratio, integration, derivative controller.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US53884204P | 2004-01-23 | 2004-01-23 | |
| US60/538,842 | 2004-01-23 | ||
| US60/575,255 | 2004-05-28 | ||
| US60/613,962 | 2004-09-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1918523A true CN1918523A (en) | 2007-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200580002913 Pending CN1918523A (en) | 2004-01-23 | 2005-01-21 | System and method for adjusting a pid controller in a limited rotation motor system |
| CNA2005800028773A Pending CN1910497A (en) | 2004-01-23 | 2005-01-21 | System and method for optimizing character marking performance |
| CN 200580002911 Pending CN1910498A (en) | 2004-01-23 | 2005-01-21 | System and method for virtual laser marking |
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| CNA2005800028773A Pending CN1910497A (en) | 2004-01-23 | 2005-01-21 | System and method for optimizing character marking performance |
| CN 200580002911 Pending CN1910498A (en) | 2004-01-23 | 2005-01-21 | System and method for virtual laser marking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102057550B (en) * | 2008-04-09 | 2013-11-13 | 丹佛斯传动有限公司 | Method for detecting an error in an induction machine |
| CN113955149A (en) * | 2021-11-25 | 2022-01-21 | 北京润科通用技术有限公司 | Health diagnosis method and device for motor system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10583668B2 (en) * | 2018-08-07 | 2020-03-10 | Markem-Imaje Corporation | Symbol grouping and striping for wide field matrix laser marking |
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2005
- 2005-01-21 CN CN 200580002913 patent/CN1918523A/en active Pending
- 2005-01-21 CN CNA2005800028773A patent/CN1910497A/en active Pending
- 2005-01-21 CN CN 200580002911 patent/CN1910498A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102057550B (en) * | 2008-04-09 | 2013-11-13 | 丹佛斯传动有限公司 | Method for detecting an error in an induction machine |
| CN113955149A (en) * | 2021-11-25 | 2022-01-21 | 北京润科通用技术有限公司 | Health diagnosis method and device for motor system |
| CN113955149B (en) * | 2021-11-25 | 2023-06-16 | 北京润科通用技术有限公司 | Health diagnosis method and device for motor system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1910498A (en) | 2007-02-07 |
| CN1910497A (en) | 2007-02-07 |
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