CN213185939U - Linear motor control system - Google Patents
Linear motor control system Download PDFInfo
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- CN213185939U CN213185939U CN202021741759.2U CN202021741759U CN213185939U CN 213185939 U CN213185939 U CN 213185939U CN 202021741759 U CN202021741759 U CN 202021741759U CN 213185939 U CN213185939 U CN 213185939U
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Abstract
The utility model provides a linear motor control system, which comprises a position control module, a speed control module, an electromechanical module and a sensing module; the position control module receives a position control signal and outputs a speed control signal to the speed control module and then outputs a current control signal; the electromechanical module comprises a current control module, a force control module and a motor, the sensing module acquires a position feedback signal, a speed feedback signal and a current feedback signal which are fed back by the motor, the position control module adjusts and outputs the speed control signal according to the position feedback signal, and the speed control module adjusts and outputs the current control signal according to the speed feedback signal; the force control module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal.
Description
Technical Field
The utility model relates to a motor control technical field especially relates to a linear electric motor control system.
Background
At present, the linear motor and the production technology and application technology of the driver thereof are in the development stage in industrially developed countries, and present great vitality as a brand-new feeding mode, and enter the industrial application stage abroad, but the research and application of the domestic linear motor are in the starting stage, and the three-closed loop (current loop, speed loop and position loop) control is applied to the servo motor in the industrial field in a mature way, and the control method can be referred and applied to the linear motor.
Therefore, it is necessary to provide a linear motor control system to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
In order to solve the above technical problem, an embodiment of the present invention provides a linear motor control system, where the control system includes a position control module, a speed control module, an electromechanical module, and a sensing module;
the position control module is connected with the speed control module and used for receiving a position control signal and outputting a speed control signal;
the speed control module is used for receiving the speed control signal and outputting a current control signal;
the electromechanical module is connected with the speed control module and comprises a current control module, a force control module and a motor, wherein the current control module is used for receiving the current control signal and controlling the position of the motor according to the current control signal;
the sensing module is connected with the position control module, the speed control module and the electromechanical module and used for acquiring a position feedback signal, a speed feedback signal and a current feedback signal which are fed back by the motor, the position control module adjusts and outputs the speed control signal according to the position feedback signal, and the speed control module adjusts and outputs the current control signal according to the speed feedback signal; the force control module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal.
According to the utility model discloses an embodiment, sensing module includes first sensing unit, second sensing unit, first sensing unit connect in position control module speed control module reaches the motor is used for acquireing position feedback signal, and the foundation position feedback signal acquires speed feedback signal, second sensing unit connect in current control module the force control module is used for acquireing current feedback signal.
According to the utility model discloses an embodiment, the power control module includes power observation unit, tooth's socket power unit, the power observation unit is connected first sensing unit the second sensing unit is used for the foundation current feedback signal position feedback signal acquires the motor constant of motor, tooth's socket power unit connection first sensing unit is used for the foundation position feedback signal acquires the tooth's socket power of motor.
According to the utility model discloses an embodiment, the force control module still includes the power compensation unit, the power compensation unit is connected the power observation unit the tooth's socket power unit is used for the basis the motor constant the tooth's socket power reaches the load of predetermineeing of motor carries out the power compensation, so that the power of the predetermined load of motor with when the difference of the power of the actual load of motor is less than and predetermines the threshold value, output power compensation result.
According to the utility model discloses an embodiment, the current control module includes the current controller, the current controller is connected the power control module is used for the foundation the output of power compensation result the current compensation signal.
According to the utility model discloses an embodiment, the current control module includes drive unit, current conversion unit, the drive unit is connected speed control module is used for the foundation current control signal converts external voltage into the drive the driving voltage of motor, the current conversion unit is connected the drive unit reaches the motor is used for the foundation the physical parameter of motor driving voltage acquires driving current, the motor is in the foundation under driving current's the drive the actual load of motor the motor constant output of motor the position of motor.
According to the utility model discloses an embodiment, electromechanical module still includes anti-electromotive force module, anti-electromotive force module is connected current control module reaches the motor is used for the foundation the position adjustment output of motor drive current.
According to the utility model discloses an embodiment, position control module includes position controller, speed control module includes speed controller.
According to the utility model discloses an embodiment, current controller position controller speed controller is the PI controller.
Compared with the prior art, the linear motor control system of the present invention adjusts and outputs the speed control signal according to the position feedback signal through the position control module, and adjusts and outputs the current control signal according to the speed feedback signal through the speed control module; the force control module performs force compensation and outputs a current compensation signal according to the position feedback signal and the current feedback signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal to realize accurate control of the linear motor control system on the motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a linear motor control system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a linear motor control system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a principle of a force control module of a linear motor control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The terms "first," "second," and "third," etc. in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Please refer to fig. 1, fig. 2 and fig. 3 together, in which fig. 1 is a schematic structural diagram of a linear motor control system 1 according to an embodiment of the present invention, fig. 2 is a schematic diagram of the linear motor control system 1 according to an embodiment of the present invention, and fig. 3 is a schematic diagram of a force control module 132 of the linear motor control system 1 according to an embodiment of the present invention. The linear motor control system 1 includes a position control module 11, a speed control module 12, an electromechanical module 13, and a sensing module 14.
According to the utility model discloses an embodiment, position control module 11 includes position controller 111, speed control module 12 includes speed controller 121, in this embodiment, position controller 111 speed controller 121 is the PI controller. The position control module 11 is connected to the speed control module 12, the electromechanical module 13 is connected to the speed control module 12, the position control module 11 receives a position control signal x, outputs a speed control signal v to the speed control module 12 through the position controller 111, and the speed controller 121 of the speed control module 12 outputs a current control signal i according to the speed control signal v; the electromechanical module 14 is connected to the speed control module 12, in this embodiment, the electromechanical module 14 includes a current control module 131, a force control module 132, and a motor 133, wherein the current control module 131 further includes a current controller 131a, and the current controller 131a is connected to the force control module 132, wherein the current controller is also a PI controller. The current control module 131 receives the current control signal i output by the speed control module 12 and then controls the position x of the motor 133 according to the current control signal i.
Specifically, the current control module 131 includes a driving unit 131b and a current converting unit 131c, the driving unit 131b is connected to the speed control module 12, the driving unit 131b converts an external voltage V into a driving voltage V(s) for driving the motor 133 according to the current control signal i, the current converting unit 131c is connected to the driving unit 131b and the motor 133, and obtains a driving current i according to a physical parameter of the motor 133 and the driving voltage V(s), in this embodiment, the physical parameter of the motor 133 includes a motor phase inductance and a motor phase resistance, and the driving voltage V(s) loaded at two ends of a coil of the motor 133 is:
wherein i(s) is a driving current, L is a motor phase inductance of the motor 133, and R is a motor phase resistance of the motor 133.
The motor 133 is driven by the driving current i(s) according to the actual load F of the motor 133lA motor constant k of the motor 133 outputs a position of the motor 133x。
If is provided with kcFor the current gain of the coil current conversion of the motor 133, the PI controller closed loop current loop function can be expressed as:
i*(s) is the current control signal, i(s) is the driving current, kp, ki are respectively PI controller gains, L is the motor phase inductance of the motor 133, and R is the motor phase resistance of the motor 133.
When k isc、kpWith much greater than R, the drag is negligible and equation (2) can be expressed as:
the parameters of the PI controller can be defined by an attenuation coefficient lambda and a natural frequency omeganTo conclude, equation (3) can be expressed as:
since the relationship between the electromagnetic force and the driving current is expressed by the motor constant k in equation (3), the relationship between the driving current and the mover position of the motor 133 can be expressed as:
wherein, M, B and C are the denominator system numbers of the second-order transfer function.
In another embodiment, the electromechanical module 13 further includes a counter electromotive force module 134, wherein the counter electromotive force module 134 is connected to the current control module 131 and the motor 133, and adjusts and outputs the driving current i according to the position x of the motor 133.
The sensing module 14 is connected to the position control module 11, the speed control module 12, and the electromechanical module 13, the sensing module 14 may obtain a position feedback signal, a speed feedback signal, and a current feedback signal fed back by the motor 133, the position control module 11 adjusts and outputs the speed control signal v according to the position feedback signal, and the speed control module 12 adjusts and outputs the current control signal i according to the speed feedback signal; the force control module 132 performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module 132 adjusts and outputs the current control signal i according to the current feedback signal and the current compensation signal, so as to adjust the position x of the motor 133. In this embodiment, the sensing module 14 includes a first sensing unit 141, a second sensing unit 142, the first sensing unit 141 is connected to the position control module 11, the speed control module 12 and the motor 133, the first sensing unit 141 may acquire the position feedback signal of the motor 133, and obtains the speed feedback signal according to the position feedback signal, and outputs the position feedback signal to the position control module 11, and outputs the speed feedback signal to the speed control module 12, the second sensing unit 142 is connected to the current control module 131 and the force control module 132, the second sensing unit 142 can obtain the current feedback signal from the output of the current control module 131, and outputs the current feedback signals to the current control module 131 and the force control module 132 simultaneously.
The force control module 132 includes a force observation unit 132a and a cogging force unit 132b, the force observation unit 123a is connected to the first sensing unit 141 and the second sensing unit 142, the motor constant k of the motor 133 is obtained according to the position feedback signal fed back by the first sensing unit 141 and the current feedback signal fed back by the second sensing unit 142, and the cogging force unit 132b is connected to the first sensing unit 142, and the cogging force of the motor 133 is obtained according to the position feedback signal fed back by the first sensing unit 141. In this embodiment, the force control module 132 further includes a force compensation unit 132c, the force compensation unit 132c is connected to the force observation unit 132a and the cogging force unit 132b, and performs force compensation according to the motor constant, the cogging force and a preset load of the motor 133, so that when a difference between a force of the preset load of the motor 133 and a force of an actual load of the motor is smaller than a preset threshold, a force compensation result is output, and the current controller 131a outputs the current compensation signal according to the force compensation result of the force control module 132.
Specifically, since the force output deformation is mainly caused by local magnetic field saturation and cogging forces, the force output versus current relationship of the motor 133 will behave as a non-linear behavior due to magnetic field saturation. The motor constant k is not always constant throughout the stroke and operation of the motor 133, and the relationship between the back emf and the speed of the motor 133 is also non-linear. The force control module 132 is used to compensate the current control signal i. The force observation unit 132a is a function of position x and the drive current i, representing the non-linear nature of the motor constant k. The force control module 132 integrates the motor constant k, the cogging force and the force generated by the actual load of the motor 133, so as to feed back the force generated by the actual load to the current controller 131a to adjust the current control signal i, the force generated by the actual load is equivalent to the product of the driving current i of the motor 133 and the force constant, and the cogging force and the force output deformation can be obtained by a finite element analysis method and are compensated by the force control module 132. When the motor 133 enters a stable operation state, equation (6) can be expressed as:
wherein k1 is the interference coefficient of the motor current change rate to the motor outputK2 is the motor force constant, i.e. the ratio of motor output to motor current, and s is the Laplace operator. To find k1，k2And actually measuring the force output generated by the actual load, and combining the results of a finite element analysis method and theoretical calculation, wherein the force generated by the actual load, the cogging force and the force deformation can be estimated by the finite element analysis method. The error of its estimation can be regarded as an error in the definition of the parameters of the motor 133. The motor constant k can be defined by the following equation (8):
A(z-1)x(t)＝B(z-1)i(t)+ε(t) (8)
where i (t) is a driving circuit, x is a position of the motor, equation (8) can be expressed in a discrete time form, and ∈ (t) is taken as an estimation error and a remaining interference coefficient of the linear motor control system 1, and an expression thereof is:
A(z-1)＝1+a1z-1+a2z-2 (9)
B(z-1)＝b0+b1z-1 (10)
suppose a in the formulas (9) and (10)1 a2 b0 b1The mover mass, the damping coefficient B, and the coefficient C of the motor 133 are estimated, and the motor constant k is calculated.
Wherein, the following formula (11), a1 a2 b0 b1Can be found from a least squares matrix.
Wherein θ ═ a1,a2,b0,b1]，
And ε (t) is the residual error. θ can be obtained by the recursive least squares method and the forgetting factor ρ in the following procedure.
P (t) and G (t) are covariance matrix and gain adjustment, ρ is a constant value, and in this embodiment, ρ is usually between 0.95 and 1. P (t) is an initial value matrix with a limited range, I is an identity matrix, and the emergency braking rule of the motor 133 is as follows:
e is a preset threshold, that is, the difference between the force of the preset load of the motor 133 and the force of the actual load of the motor is smaller than the preset threshold, the motor constant k can be obtained, when the motor constant k converges, a force compensation result is output, and the current controller 131a outputs the current compensation signal according to the force compensation result of the force control module 132.
The linear motor control system 1 of the present invention adjusts and outputs the speed control signal according to the position feedback signal through the position control module 11, and the speed control module 12 adjusts and outputs the current control signal according to the speed feedback signal; the force control module 132 performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module 131 adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal to realize accurate control of the linear motor control system 1 on the motor 133.
Further, the result of the finite element analysis method and the theoretical calculation are combined, so that the error of the theoretical calculation can be reduced, and the motor constant k of the motor 133 can be obtained without a complicated actual measurement process, thereby realizing the accurate control of the motor 133.
Further, the force control module 132 of the electromechanical module 13 performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current controller 131 of the electromechanical module 13 adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal, so as to adjust the position of the motor 133 and improve the accuracy of controlling the linear motor.
The above disclosure is only one embodiment of the present invention, and certainly should not be limited thereto, and the scope of the invention is accordingly intended to be encompassed by the present invention, even if equivalents thereof are made.
Claims (10)
1. A linear motor control system is characterized by comprising a position control module, a speed control module, an electromechanical module and a sensing module;
the position control module is connected with the speed control module and used for receiving a position control signal and outputting a speed control signal;
the speed control module is used for receiving the speed control signal and outputting a current control signal;
the electromechanical module is connected with the speed control module and comprises a current control module, a force control module and a motor, wherein the current control module is used for receiving the current control signal and controlling the position of the motor according to the current control signal;
the sensing module is connected with the position control module, the speed control module and the electromechanical module and used for acquiring a position feedback signal, a speed feedback signal and a current feedback signal which are fed back by the motor, the position control module adjusts and outputs the speed control signal according to the position feedback signal, and the speed control module adjusts and outputs the current control signal according to the speed feedback signal; the force control module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal.
2. The linear motor control system of claim 1, wherein the sensing module comprises a first sensing unit and a second sensing unit, the first sensing unit is connected to the position control module, the speed control module and the motor and configured to obtain the position feedback signal and obtain the speed feedback signal according to the position feedback signal, and the second sensing unit is connected to the current control module and the force control module and configured to obtain the current feedback signal.
3. The linear motor control system according to claim 2, wherein the force control module comprises a force observation unit and a cogging force unit, the force observation unit is connected to the first sensing unit and the second sensing unit and is configured to obtain a motor constant of the motor according to the current feedback signal and the position feedback signal, and the cogging force unit is connected to the first sensing unit and is configured to obtain a cogging force of the motor according to the position feedback signal.
4. The linear motor control system of claim 3, wherein the force control module further comprises a force compensation unit, and the force compensation unit is connected to the force observation unit and the cogging force unit and configured to perform force compensation according to the motor constant, the cogging force and a preset load of the motor, so that a force compensation result is output when a difference between a force of the preset load of the motor and a force of an actual load of the motor is smaller than a preset threshold.
5. The linear motor control system of claim 4, wherein the current control module comprises a current controller, the current controller is connected to the force control module and configured to output the current compensation signal according to the force compensation result.
6. The linear motor control system according to claim 1, wherein the current control module includes a driving unit and a current conversion unit, the driving unit is connected to the speed control module and configured to convert an external voltage into a driving voltage for driving the motor according to the current control signal, the current conversion unit is connected to the driving unit and the motor and configured to obtain a driving current according to a physical parameter of the motor and the driving voltage, and the motor outputs a position of the motor according to an actual load of the motor and a motor constant of the motor under driving of the driving current.
7. The linear motor control system of claim 6, wherein the electromechanical module further comprises a counter electromotive force module, the counter electromotive force module being connected to the current control module and the motor for adjusting the output of the driving current according to a position of the motor.
8. The linear motor control system of claim 5, wherein the position control module includes a position controller and the speed control module includes a speed controller.
9. The linear motor control system of claim 8, wherein the position controller and the speed controller are both PI controllers.
10. The linear motor control system of claim 5, wherein the current controller is a PI controller.
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