WO2020124934A1 - 一种伺服电机负载惯量的测定方法 - Google Patents

一种伺服电机负载惯量的测定方法 Download PDF

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WO2020124934A1
WO2020124934A1 PCT/CN2019/086545 CN2019086545W WO2020124934A1 WO 2020124934 A1 WO2020124934 A1 WO 2020124934A1 CN 2019086545 W CN2019086545 W CN 2019086545W WO 2020124934 A1 WO2020124934 A1 WO 2020124934A1
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load inertia
inertia
servo motor
natural frequency
load
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PCT/CN2019/086545
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French (fr)
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范仁凯
杨凯峰
齐丹丹
钱巍
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南京埃斯顿自动化股份有限公司
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage

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  • the invention relates to a method for measuring the load inertia of a servo motor.
  • servo motors have played an important role in industrial automation. As a driving actuator, its response speed is fast, the control accuracy is high and the volume is small.
  • the servo motors commonly used on the market today are permanent magnet synchronous motors, and their control methods are all digital vector control methods. Because the servo motor can work in torque control mode, speed control mode or position control mode. Therefore, a three-loop control structure with nested position loop, speed loop and torque loop is generally adopted for control. Among them, the performance of the speed loop is greatly affected by the load inertia.
  • the load inertia parameters need to be set correctly.
  • the load inertia of different equipment is different, and it is unknown in most cases. Therefore, the equipment installed with a servo motor needs a long time to calculate or measure the load inertia before the trial operation.
  • offline measurement needs to let the servo motor run a specified path in the non-working state, and then calculate the load inertia according to Newton's second law of motion.
  • the load inertia measured by this method is more accurate but requires offline measurement.
  • Online measurement is to indirectly identify the load inertia through the observer or model reference adaptive mode while the servo motor is working.
  • the load inertia measured by this method has low accuracy and slow response speed.
  • the technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a method for measuring the load inertia of a servo motor.
  • the load inertia is measured online in the early stage of the servo motor, and then the speed loop parameters are adjusted according to the load inertia, and then the load inertia is no longer calculated.
  • This solution is suitable for applications where the load inertia is constant, and can achieve better control performance without setting load inertia parameters during the trial operation of the servo motor.
  • the basic idea of the present invention to achieve the object of the invention is to perform FFT analysis on the speed error while the servo motor is in trial operation, search the analyzed vibration frequency in a pre-prepared two-dimensional table, and the load corresponding to this vibration frequency can be calculated Inertia, and then set the load inertia into the servo parameters.
  • the entire process does not require additional operations by the user, and the load inertia estimation process takes less time.
  • the proportional coefficient K P , the integral coefficient K I and the set inertia J set are adjustable parameters, and the motor inertia J M and load inertia J L are the controlled object parameters.
  • (J M +J L )/J set will affect the speed loop performance.
  • the overshoot and natural frequency of the speed loop change regularly: (J M +J L )/J set increases, the overshoot increases, and the natural frequency decreases.
  • the present invention is to determine (J M +J L )/J set by measuring the natural frequency of the speed loop by using the above-mentioned law, so as to calculate the load inertia J L.
  • the method for measuring the load inertia of the servo motor of the present invention has the following steps:
  • Step 1 Make a two-dimensional table of the natural frequency f n of the speed loop and the value of J L /J M
  • J set is the set inertia
  • J M is the motor inertia
  • J L is the load inertia
  • the natural frequency f n of the velocity loop at different J L /J M is measured.
  • the natural frequency f n and J L /J M values are made into a two-dimensional table.
  • J set J M is also set during the actual motor operation.
  • J L /J M is calculated by linear interpolation in a two-dimensional table, thereby inferring the load inertia J L.
  • the method of the present invention can be used to calculate the load inertia online.
  • the servo motor does not need to run a specific curve or inject harmonics; because the vibration frequency caused by the inertia parameter mismatch is low, it will not be affected by factors such as mechanical resonance; actual In operation, the two-dimensional table of natural frequency f n and J L /J M value can be drawn by actual system test, and the accuracy of the relationship between natural frequency and load inertia is high.
  • Figure 1 is a block diagram of the speed loop control.
  • Figure 2 is a graph of the effect of (J M +J L )/J set on the step response of the speed loop.
  • Figure 3 is a graph of the effect of (J M +J L )/J set on the frequency characteristics of the speed loop.
  • Fig. 4 is a relationship curve between natural frequency f n and J L /J M.
  • FIG. 5 is a block diagram for implementing load inertia measurement.
  • Fig. 6 is a flowchart of load inertia measurement.
  • Fig. 7 is a graph of FFT analysis.
  • FIG. 8 is a comparison diagram of the speed loop step response before and after the inertia measurement using the method of the present invention.
  • the motor inertia J M is 1e-4kgm2.
  • the proportional coefficient K P is 200
  • the integral coefficient K I is 100
  • J set J M.
  • Step 1 Make a two-dimensional table of the natural frequency f n of the speed loop and the value of J L /J M.
  • This step is performed before the servo leaves the factory.
  • Step 2 Calculate the load inertia
  • This step is performed during the use of the servo after delivery.
  • the implementation block diagram is shown in Figure 5, and the implementation process is shown in Figure 6.
  • the look-up table can be drawn through actual system tests, and the relationship between natural frequency and load inertia is highly accurate.
  • the relationship between natural vibration frequency and load inertia is drawn into a two-dimensional table.
  • the FFT analysis is performed on the speed error and the natural frequency is found, and the load inertia is calculated by looking up the table.

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

Abstract

本发明公开了一种伺服电机负载惯量的测定方法，电机出厂时，通过测量不同JL/JM时速度环的自然频率fn，制作速度环的自然频率fn与JL/JM值的二维表格；在电机实际运行过程中，通过对采集的速度误差进行FFT分析并找出自然频率fn，然后在二维表格中通过线性插值的方法计算出JL/JM，从而推算出负载惯量JL。本发明方法在线推算负载惯量，伺服电机不需要运行特定的曲线也不需要注入谐波；由于惯量参数不匹配引起的振动频率较低，所以不会受到机械谐振等因素的影响；通过实际系统测试绘制自然频率fn与JL/JM值的二维表格，自然频率与负载惯量关系的准确度高。

Description

一种伺服电机负载惯量的测定方法 技术领域
本发明涉及一种伺服电机负载惯量的测定方法。
背景技术
一直以来，伺服电机在工业自动化场合扮演者重要的角色。作为驱动执行机构，其响应速度快、控制精度高且体积较小。如今市场上通用的伺服电机为永磁同步电机，其控制方式均采用数字化的矢量控制方式。由于伺服电机可工作于转矩控制模式、速度控制模式或位置控制模式。所以，控制上一般采用位置环、速度环、转矩环嵌套的三环控制结构。其中，速度环的性能受负载惯量的影响较大。
如果伺服电机工作于位置控制模式或速度控制模式，则需要正确设置负载惯量参数。而作为通用的伺服产品，不同设备的负载惯量是不一样的，多数场合是未知的。所以，安装有伺服电机的设备在试运行前时均需要花很长的时间去计算或测量负载惯量。
在现有的伺服产品中，测量负载惯量的方法有两种：离线测量和在线测量。其中，离线测量需要让伺服电机在非工作状态下运行一个指定的路径，然后根据牛顿第二运动定律推算出负载惯量，该方法测量的负载惯量比较准确但需要离线测量。在线测量是在伺服电机工作的同时通过观测器或模型参考自适应的方式间接辨识出负载惯量，该方法测量的负载惯量精度较低且响应速度慢。
发明内容
本发明所要解决的技术问题在于，克服现有技术存在的缺陷，提供一种伺服电机负载惯量的测定方法。在伺服电机工作的前期在线测量出负载惯量，然后根据该负载惯量调整速度环参数，之后就不再进行负载惯量推算。该方案适用于负载惯量不变的应用场合，可使伺服电机试运行时不用设置负载惯量参数也可达到较好的控制性能。
本发明实现发明目的的基本思路：在伺服电机试运行的同时对转速误差进行FFT分析，将分析出的振动频率在预先准备好的二维表格中进行查找，可推算出此振动频率对应的负载惯量，然后再将该负载惯量设置到伺服参数中。整个过程不需要用户进行额外操作，负载惯量推算过程耗时较短。
速度环控制结构中，比例系数K P、积分系数K I和设定惯量J set为可调整参数，电机惯量J M、负载惯量J L为被控对象参数。对转矩环进行简化：由于内环转矩环的带宽要远大于速度环带宽，所以可以忽略转矩环对速度环的影响，即将转矩环传递函数视为1。
速度环闭环传递函数为
Figure PCTCN2019086545-appb-000001
为了使速度环性能不受负载惯量的影响，通常需要设置J set＝J M+J L，即(J M+J L)/J set＝1。在选定K P、K I的情况下，(J M+J L)/J set将影响速度环性能。速度环的超调和自然频率 呈一定规律变化：(J M+J L)/J set增大，超调增大，自然频率降低。
本发明就是利用上述规律通过测量速度环自然频率来确定(J M+J L)/J set，从而推算出负载惯量J L。
本发明伺服电机负载惯量的测定方法，其步骤如下：
步骤1.制作速度环的自然频率f n与J L/J M值的二维表格
设定J set＝J M，则(J M+J L)/J set＝1+J L/J M。
其中，J set为设定惯量，J M为电机惯量，J L为负载惯量。
通过仿真或实测的方法，测量不同J L/J M时速度环的自然频率f n。自然频率f n的测量方法有两种：一是测量振动周期T并计算出自然频率f n＝1/T。二是对采集的速度误差波形进行FFT分析，幅值最大处的频率即为自然频率f n。
将自然频率f n与J L/J M值制作成二维表格。
步骤2.推算负载惯量
在实际电机运行过程中也设定J set＝J M。
通过对采集的速度误差进行FFT分析并找出自然频率f n，然后在二维表格中通过线性插值的方法计算出J L/J M，从而推算出负载惯量J L。
本发明方法，可用于在线推算负载惯量，伺服电机不需要运行特定的曲线也不需要注入谐波；由于惯量参数不匹配引起的振动频率较低，所以不会受到机械谐振等因素的影响；实际操作中，自然频率f n与J L/J M值的二维表格可以通过实际系统测试绘出，自然频率与负载惯量关系的准确度高。
附图说明：
图1是速度环控制框图。
图2是(J M+J L)/J set对速度环阶跃响应的影响曲线图。
图3是(J M+J L)/J set对速度环频率特性的影响曲线图。
图4是自然频率f n与J L/J M的关系曲线。
图5是负载惯量测定实施框图。
图6是负载惯量测定流程图。
图7是FFT分析曲线图。
图8是使用本发明方法测定惯量前后的速度环阶跃响应对比图。
具体实施方式
下面结合实施例，对本发明方法作进一步详细说明。
实施例：
以图1中的控制框图为实施对象，电机惯量J M为1e-4kgm2。在伺服出厂状态下，比例系数K P为200，积分系数K I为100，J set＝J M。现通过以下步骤测定负载惯量J L并调整设定惯量J set。
步骤1：制作速度环的自然频率f n与J L/J M值的二维表格。
本步骤在伺服出厂前进行。
按照图1，在Matlab中搭建仿真模型，分别设置参数J M为1e-4、K P为200、K I为100、 J set为1e-4。
设置负载惯量J L为0，进行阶跃响应仿真，如图2所示。测量图中振动周期并计算自然振动频率f n。使用同样的方法，分别测量不同负载惯量J L时的自然振动频率f n，并记录于下表中。并将该表保存于伺服的非掉电丢失存储器中。
J L/J M f n/Hz
0 17.5
1 13.2
2 11.4
3 10.4
4 9.57
5 8.39
6 7.88
7 7.45
8 7.07
9 6.75
步骤2：推算负载惯量
本步骤在伺服出厂后使用过程中进行，实施框图如图5所示，实施流程如图6所示。
伺服出厂状态下，伺服电机驱动负载，负载惯量未知。对采集的速度误差进行FFT分析，如图7所示。幅值最大的频率约为11Hz。在图4中进行查表并线性插值，得出J L≈2.2J M。然后设置J set＝J M+J L＝3.2J M后结束实施流程。图8为负载惯量推算前后的速度阶跃响应对比。可用于在线推算负载惯量，即伺服电机不需要运行特定的曲线也不需要注入谐波。
由于惯量参数不匹配引起的振动频率较低，所以不会受到机械谐振等因素的影响。
实际操作中，查找表格可以通过实际系统测试绘出，自然频率与负载惯量关系的准确度高。
通过模型仿真或实测的方法，将自然振动频率与负载惯量的关系绘制成二维表格。在伺服电机运行过程中，对速度误差进行FFT分析并找出自然频率，通过查表的方式推算出负载惯量。

Claims (3)

  1. 一种伺服电机负载惯量的测定方法，其步骤如下：
    步骤1.制作速度环的自然频率f n与J L/J M值的二维表格：
    设定J set＝J M，则(J M+J L)/J set＝1+J L/J M；其中，J set为设定惯量，J M为电机惯量，J L为负载惯量；
    测量不同J L/J M时速度环的自然频率f n；
    将自然频率f n与J L/J M值对应制作成二维表格；
    步骤2.推算负载惯量
    在实际电机运行过程中也设定J set＝J M；
    通过对采集的速度误差进行FFT分析并找出自然频率f n，然后在二维表格中通过线性插值的方法计算出J L/J M，从而推算出负载惯量J L。
  2. 根据权利要求1所述的伺服电机负载惯量的测定方法，其特征是：步骤1中所述的速度环的自然频率f n的测量方法：测量振动周期T并计算出自然频率f n＝1/T。
  3. 根据权利要求1所述的伺服电机负载惯量的测定方法，其特征是：步骤1中所述的速度环的自然频率f n的测量方法：对采集的速度误差波形进行FFT分析，幅值最大处的频率即为自然频率f n。
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