KR19990068993A - Integral control device - Google Patents
Integral control device Download PDFInfo
- Publication number
- KR19990068993A KR19990068993A KR1019980002943A KR19980002943A KR19990068993A KR 19990068993 A KR19990068993 A KR 19990068993A KR 1019980002943 A KR1019980002943 A KR 1019980002943A KR 19980002943 A KR19980002943 A KR 19980002943A KR 19990068993 A KR19990068993 A KR 19990068993A
- Authority
- KR
- South Korea
- Prior art keywords
- integral
- speed
- controller
- proportional
- value
- Prior art date
Links
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
A proportional integral control device for an integral control device, comprising: a proportional controller for outputting a value proportional to a speed error; and an integral controller for integrating and outputting a speed error, wherein the integral controller comprises: A polarity discrimination unit for discriminating a polarity change from a past speed command outputted from the memory unit and a current speed command; a motor speed comparator for multiplying the speed error by an integral gain and adding a value proportional to the speed error to the torque command And a reset unit for resetting the integral value of the integral control unit according to the discrimination result of the polarity discrimination unit. When the polarity of the speed command is changed, the stored value of the integral controller is changed quickly so that the amount remaining in the integrator is instantaneously changed It is possible to obtain a fast response speed.
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a proportional integral-speed controller, and more particularly to an integral control device.
Generally, in order to precisely control the speed of a motor and the like, it is necessary to detect the commanded speed and the actual speed of the controlled object through a suitable sensor, and then obtain a speed error, which is the difference, and input the speed error to the control object through a suitable speed controller .
A proportional integral speed controller is commonly used as a speed controller. The controller has a proportional controller which outputs a value proportional to a speed error and an integral which outputs a proportional amount of a time error of a speed error in order to eliminate a speed error in a steady state And the outputs of the respective controllers are added to each other and then applied to the control target as a control input.
Normally, when the control target is a load driven by the motor, this control input becomes a torque command.
The torque command generates a torque through the torque generating portion, and the controlled object has a desired speed by the generated torque.
The conventional technology will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram for explaining a configuration of a proportional-integral-velocity control apparatus according to the related art. The proportional-integral-velocity control apparatus according to the related art includes an adder 11, a proportional controller 12, an integral controller 13, A torque generating section 14, and a drive system 15.
First, the speed command? R and the detection speed? F are detected through sensors or the like, and the speed command? R and the detection speed? F And outputs the velocity error e ? To the proportional controller 12 and the integral controller 13. The proportional controller 12 and the integral controller 13 calculate the speed error e ?
Proportional controller 12 and an integral controller 13 outputs the sum value of the value output by the speed error ω e and the proportional gain Kp and the speed error ω e and the integration gain Ki by the torque command (Tr).
Tr = Kp · e ω + Ki / S · e ω (Laplace transform form or transfer function form) or Tr = Kp · eω + Ki∫e ω dt (in the form of the integral equation) e ω + KiΣe ω Δt (discrete equation form).
The torque generating section 14 receives the torque command Tr and generates a torque Te in the drive system 15. [
Since the generated torque of a normal control motor is proportional to the current flowing to the motor (in the case of a DC motor or a BLDC motor), first calculate the required current to obtain the torque command value, and apply the appropriate voltage to the motor to obtain this current.
When voltage is applied to the motor in this way, current flows and accordingly the motor generates torque Te.
Assuming that the torque generating portion 14 is ideal, the output torque becomes equal to the command torque value, and therefore the transfer function value can be represented by 1. [ That is, the transfer function Ht (S) of the torque generating section 14 is 1.
The drive system 15 is driven by the torque Te thus generated.
The equation of motion of the drive system 15 at this time can be expressed as Te = J.dω f / dt + Bω f or W f = 1 / (JS + B) · T e .
Here, J is the moment of inertia and B is the viscous friction coefficient.
In this way, the controlled object has the desired speed.
In such a conventional integral control device, the integral controller 13 is used to eliminate the velocity error in the steady state.
First, the closed loop transfer function for the case of using only the proportional integral controller is H (s) = W f / W r = K p / J S + B + K p .
Therefore, the transfer function at S = 0 is K p / B + K p , so that W f and W r are not equal . That is, a steady state error occurs.
In addition, the look obtained the closed-loop transfer function in the case of using a proportional-integral controller H (s) = W f / W r = (SK p + K i) * K p / S (JS + B) + (SK p + K i ) * K p .
At this time, the transfer function at S = 0 is 1, and W f and W r are equal. Therefore, steady-state error does not occur.
That is, if there is an error between the command speed and the detection speed, the integral controller 13 continuously accumulates this value and continues to output the torque command in proportion to this accumulated value. Therefore, in the event of a steady state, there will be no error.
However, when the polarity of the speed command changes, the integral controller 13 does not change the direction of the output value of the integral controller 13 according to the accumulated value because the error is accumulated and the proportional output is proportional to the accumulated value.
At least the accumulated value of the error accumulated in the past is exhausted and the output value is changed.
For example, if W f > 0, W r > 0 and W r -W f ≥ 0, then ∫e ω dt> 0, ie, the command speed is in the positive direction, Consider the case where the cumulative value of the integral controller 13, which has not reached the command speed or is equal to the command speed, has a positive value (note that where W f > 0) In other words, if the speed command is in the + direction but the actual speed is in the - direction)
If at any time t1 the direction of the speed command has changed to minus direction, the motor should be instructed to produce a negative torque in the negative direction as soon as possible to change the direction of the speed in the input field of the speed controller.
The torque command equation of the proportional integral controller is expressed as Tr = Kp · e ω + Ki / S · e ω . From this equation, the output of the proportional control speed controller is changed from the positive direction to the negative direction, The polarity of the proportional controller is changed from the + direction or the zero to the - direction, so that the proportional controller output immediately changes from the + direction or the zero to the - direction.
However, since the output of the integral controller is the + direction accumulated immediately before, the effect does not immediately appear even if the error value changes to - at present.
In other words, the output of the integrator controller changes polarity in the minus direction after all accumulated + values have been exhausted.
In other words, if the polarity of the speed command changes at any moment, even if the proportional controller immediately responds and outputs the torque command in the opposite direction to that immediately before, the integral controller outputs the torque command in the previous direction as it is do.
As a result, the torque command value in the immediately preceding direction and the opposite direction for changing the polarity of the speed becomes smaller than the torque command by the proportional controller, so that the torque generation is not sufficient, and accordingly, it takes more time to obtain the desired speed. That is, the response is delayed.
That is, when the polarity of the speed command is changed, the value stored in the integrator in the integral controller does not change quickly in the proportional integral speed controller of the related art, so that the output torque command becomes insufficient and the speed response is lowered.
SUMMARY OF THE INVENTION It is an object of the present invention to provide an integral control device for increasing a speed response so that an output torque command can sufficiently be issued.
According to an aspect of the present invention, there is provided a proportional-integral-velocity control apparatus comprising a proportional controller for outputting a value proportional to a speed error and an integral controller for integrating and outputting a speed error, A polarity discriminating section for discriminating a polarity change from a past speed command and a current speed command outputted from the storage section, a speed discriminating section for integrating the speed error with an integral gain, And a reset unit for resetting the integral value of the integral control unit in accordance with the discrimination result of the polarity discriminating unit.
1 is a block diagram for explaining a configuration of a proportional-integral-velocity control apparatus according to the prior art;
2 is a block diagram showing in detail a configuration of an integral control apparatus according to the present invention.
3 is a flowchart for explaining a proportional-integral-velocity control method according to the present invention;
DESCRIPTION OF THE REFERENCE NUMERALS
12: proportional controller 13: integral controller
14: torque generating section 15: drive system
21: memory unit 22: polarity discrimination unit
23: reset section 24: integral control section
Hereinafter, an integral control device according to the present invention will be described with reference to the accompanying drawings.
FIG. 2 is a block diagram showing a detailed configuration of an integral control apparatus according to the present invention, and the integral controller will be described with reference to FIG. 1 together.
That is, the integrated controller 13 storage unit 21, a storage unit 21, the speed reference (ω r-1) and the current speed reference (ω r) of a past output from storing a speed command of history A polarity discriminating section 22 for discriminating a polarity change and an integral control section 22 for adding a value output from the speed error e ? And an integral gain to a value output from the proportional controller 12, And a reset unit 23 for resetting the integral value of the integral control unit 24 in accordance with the discrimination result of the polarity discrimination unit 22. [
The operation of the integral controller according to the present invention will now be described with reference to FIG. 1. First, the storage unit 21 stores the past speed command? R-1 and outputs it to the polarity discrimination unit 22 .
The polarity determination unit 22 receives the past speed command? R-1 and the current speed command? R to determine the polarity change.
If the polarity is changed as a result of the determination, the polarity determination unit 22 activates the reset unit 23 to reset the integral value of the integral control unit 24.
If the polarity is not changed as a result of the determination, the integral control unit 24 adds the value output from the proportional controller 12 and the value output from the integral control unit 24, and sets this value as the torque command Tr of the motor.
The operation of the total proportional integral speed controller including the integral controller 13 operating in this manner will be briefly described with reference to the flow chart of FIG.
First, the speed command? R and the detection speed? F are detected through a sensor or the like, and the difference between the speed command? R and the detection speed? F is detected through the adder 11 to obtain a speed error e ? And the integral controller 13, respectively.
Proportional controller 12 and an integral controller 13 outputs the sum value of the value output by the speed error ω e and the proportional gain Kp and the speed error ω e and the integration gain Ki by the torque command (Tr).
Then, after initializing the speed value? Rn to zero, it reads the detected past speed command? Rn-1 , the current speed command? Rn, and the detection speed? Fn and sets the speed error? Rn as the difference between the speed command? Rn and the detection speed? e ? n is read (S31, S32).
The polarity determination unit 22 determines whether the polarity is changed by the read past speed command? Rn-1 and the current speed command? Rn (S33).
As a result of the determination, if the polarity is changed, the reset unit 23 is activated to reset the integral value ? E ? N of the integral control unit 24 (S34).
If the polarity is not changed as a result of the determination, the integral controller 24 adds the value output from the proportional controller 12 and the value output from the integral controller 24, and sets this value as the torque command Tr of the motor (S35) .
This can be written as Tr = Kp · eω + KiΣe ωn .
After the current speed command? Rn becomes the past speed command? Rn-1 , the routine ends (S36).
The integrated control apparatus according to the present invention has an effect that when the polarity of the speed command is changed, the stored value of the integral controller changes rapidly, and the amount of the remaining amount of the integral controller is instantaneously released, thereby achieving a quick response speed.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019980002943A KR19990068993A (en) | 1998-02-03 | 1998-02-03 | Integral control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019980002943A KR19990068993A (en) | 1998-02-03 | 1998-02-03 | Integral control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR19990068993A true KR19990068993A (en) | 1999-09-06 |
Family
ID=65892954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019980002943A KR19990068993A (en) | 1998-02-03 | 1998-02-03 | Integral control device |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR19990068993A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210004616A (en) * | 2019-07-05 | 2021-01-13 | 한국항공우주산업 주식회사 | Air vehicle control system and its methods to minimize loss due to the use of integrator |
-
1998
- 1998-02-03 KR KR1019980002943A patent/KR19990068993A/en not_active Application Discontinuation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210004616A (en) * | 2019-07-05 | 2021-01-13 | 한국항공우주산업 주식회사 | Air vehicle control system and its methods to minimize loss due to the use of integrator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100374052B1 (en) | Control constant identification device | |
| KR970002525A (en) | Abnormal detection / diagnosis method and automatic cleaning method of servo control system | |
| KR920700417A (en) | Sliding mode control method with feedforward compensation | |
| JP4367058B2 (en) | Motor control device | |
| JP2008079441A (en) | Motor controller and controller comprising the same | |
| US20080258671A1 (en) | Control device having excessive-error detection function | |
| JP4453526B2 (en) | Servo control device | |
| KR19990068993A (en) | Integral control device | |
| RU2414048C1 (en) | Automatic control method of parametres of electric mechanical system and device for its implementation | |
| EP0433461A1 (en) | Zeroing method using a disturbance estimating observer | |
| JPH0993971A (en) | Motor controller | |
| JP2007330079A (en) | Speed control device with acceleration instruction, and method for controlling speed of motor | |
| JP2738802B2 (en) | Carrier jam detection control method | |
| JPH01100611A (en) | High-speed positioning control system applied with nonlinear friction compensation | |
| US10599136B2 (en) | Motor controller and method for controlling motor | |
| KR100461186B1 (en) | Control method of pi controller | |
| JP2003333874A (en) | Load inertia identifying device | |
| JPH06165550A (en) | Method and system for controlling motor | |
| JP2019133537A (en) | Actuator controller and actuator control method | |
| JPH01279304A (en) | Integral proportion compensator for servo control system | |
| JP2006074896A (en) | Motor control device | |
| JP2007162617A (en) | Electronic governor | |
| JP6399691B2 (en) | Rotational speed control device, rotational speed control method, and rotational drive system | |
| JP3606599B2 (en) | Pressure control device for hydraulic equipment | |
| KR19980068490A (en) | Reluctance motor control method and control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WITN | Withdrawal due to no request for examination |