CN106253779A - A kind of permagnetic synchronous motor method for control speed - Google Patents
A kind of permagnetic synchronous motor method for control speed Download PDFInfo
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- CN106253779A CN106253779A CN201610617087.6A CN201610617087A CN106253779A CN 106253779 A CN106253779 A CN 106253779A CN 201610617087 A CN201610617087 A CN 201610617087A CN 106253779 A CN106253779 A CN 106253779A
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- 230000010354 integration Effects 0.000 claims abstract description 17
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- 230000000737 periodic effect Effects 0.000 claims description 10
- 230000004044 response Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
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Classifications
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The invention discloses a kind of permagnetic synchronous motor method for control speed, including: obtain rotor physical location and actual mechanical angle speed；Using the deviation of desired mechanical angle speed and actual mechanical angle speed as the input of pi regulator, it is thus achieved that the output valve of pi regulator and the output valve of amplitude limit link；Output valve and the output valve of amplitude limit link according to described pi regulator determine that it is operated in linear zone or inelastic region；When pi regulator is operated in linear zone, the output valve of the proportional component of described pi regulator and the output valve sum of integral element are operated in the output valve of linear zone as it；When pi regulator is operated in inelastic region, cancel pi regulator integral element, the difference of the output valve of pi regulator Yu the output valve of amplitude limit link is integrated as its exit entrance linear zone, inelastic region time integration initial value；The output valve of the proportional component of described pi regulator and described integration initial value sum are operated in output valve during inelastic region as it.
Description
Technical field
The present invention relates to technical field of electromechanical control, particularly relate to a kind of permagnetic synchronous motor method for control speed.
Background technology
Permagnetic synchronous motor because its power factor (PF) is high, torque current than high, simple in construction, sturdy and durable, volume is little, weight
Gently, safeguarding the advantages such as simple, it has been widely used in the industries such as digital control system, Aero-Space, industrial robot.AC servo
Stable state accuracy and quick and non-overshoot dynamic property that motor speed controls are one of current difficult points studied.Exchange at present is watched
Dress system speed ring typically uses pi regulator (proportional-integral controller).Due to by inverter capacity, motor rated power etc.
The restriction of factor, the output of speed ring will be limited in maximum current value.If given bigger Velocity Step Technique instructs, now PI
Actuator output has reached amplitude limit value, and the integral element of pi regulator is still adding up, during until overshoot occurs, and integration ring
Joint just can reduce, and which results in the variation of control performance.The output of this pi regulator and the output of amplitude limit link are unequal
Phenomenon is referred to as windup phenomenon.
The method of common anti-windup has integration partition method and counterplot algorithm.Integration partition method is according to pi regulator
The output of output and amplitude limit link is the most equal limits integral element.The method realizes simple, it is not necessary to add extra ginseng
Number, but it is a lack of robustness, when system changes, it is unstable that original parameter may result in new system.Counterplot is calculated
Method constitutes the road of feedback by the difference of the output of pi regulator and the output of amplitude limit link and reduces the saturation depth of pi regulator,
But the performance of the method depends not only on choosing of PI parameter, additionally depend on counterplot and calculate choosing of parameter Kc.Traditional counterplot
Algorithm Kc keeps constant, easily causes and has good control performance under certain step rotary speed instruction, and when step rotating speed is sent out
During raw change, control performance becomes very poor.
Summary of the invention
The present invention provides a kind of method that in permagnetic synchronous motor speed controlling, anti-windup is saturated, it is possible to achieve speed ring is fast
Speed and the response of non-overshoot, and realize simple.
According to an aspect of the present invention, it is provided that a kind of permagnetic synchronous motor method for control speed, its spy includes having as follows
Body step:
Step 1: obtain rotor physical location θ and actual mechanical angle speed omega by position sensorr；
Step 2: by desired mechanical angle speed omegar *With actual mechanical angle speed omegarRotating speed deviation e as PI regulate
The input of device, it is thus achieved that the output valve of pi regulator and the output valve of amplitude limit link；
Step 3: determine that pi regulator work is online according to the output valve of described pi regulator and the output valve of amplitude limit link
Property district or inelastic region；
Step 4: when pi regulator is operated in linear zone, by output valve and the integration of the proportional component of described pi regulator
The output valve sum of link is operated in the output valve of linear zone as pi regulator；
Step 5: when pi regulator is operated in inelastic region, cancels the integral element of pi regulator, by pi regulator
Output valve is integrated amassing when exiting entrance linear zone, inelastic region as pi regulator with the difference of the output valve of amplitude limit link
Divide initial value；
Step 6: when described pi regulator exits saturated, the output valve of the proportional component of described pi regulator is long-pending with described
Initial value sum is divided to be operated in output valve during inelastic region as pi regulator.
Wherein, step 3 includes:
When the output valve of described pi regulator and the output valve of amplitude limit link are equal, determine that pi regulator is operated in linearly
District；
When the output valve of described pi regulator and the output valve of amplitude limit link are unequal, determine that pi regulator is operated in non-
Linear zone.
Wherein, in step 5, described integration initial value is calculated as below:
Wherein,For described integration initial value, kaFor target offset yield value, t is that pi regulator is when inelastic region
Time, unAnd usIt is respectively output valve and the output valve of amplitude limit link of described pi regulator.
Wherein, when described in step 4, pi regulator is operated in linear zone, the output valve of described pi regulator is expressed as
Formula:
In formula, KpvFor velocity loop proportional gain, KivFor speed ring storage gain, e (k) is the rotating speed of kth discrete periodic
Error, e (j) is the speed error of jth discrete periodic, and the span of j is from 0 to k, and k is total periodicity of discrete periodic.
Wherein, equation of motion when described pi regulator is operated in linear zone is as follows:
Wherein, ωrFor the mechanical angle speed that rotor is actual；B is coefficient of friction, kTFor torque constant, TLTurn for load
Square.
Wherein, when described in step 6, pi regulator is operated in inelastic region, the output valve of described pi regulator such as following table
Show:
Wherein, KpvFor velocity loop proportional gain, e (k) is speed error deviation,For described integration initial value.
Wherein, equation of motion when described pi regulator is operated in inelastic region is as follows:
Wherein, ωrFor the mechanical angle speed that rotor is actual；B is coefficient of friction, kTFor torque constant, TLTurn for load
Square, ωrDuring more than zero, U is equal to the maximum current value of motor；ωrDuring less than zero, U is equal to the minimum current value of motor.
The present invention compared with prior art, the beneficial effects of the present invention is:
(1) anti-windup saturation element is modified on the basis of former PI controller, it is not necessary to complicated algorithm, structure letter
Single, it is easy to Project Realization.
(2) present invention takes full advantage of initial value for integral, and saturation depth maintains a shallower state, and accelerates and move back
Go out saturated velocity response.
(3) present invention can realize AC servo speed ring quickly and the response of non-overshoot, and has good steady
State precision.
Accompanying drawing explanation
The structure chart that the anti-windup saturated velocity that Fig. 1 provides for the embodiment of the present invention controls；
The amplitude limit link schematic diagram that Fig. 2 provides for the embodiment of the present invention；
Novel anti-windup saturated PI controller and conventional PI control under the constant torque load that Fig. 3 provides for the embodiment of the present invention
Device and integral-separated PI controller Velocity Step Technique response experimental result contrast schematic diagram；
Novel anti-windup saturated PI controller and traditional PI control under the shock load torque that Fig. 4 provides for the embodiment of the present invention
Device processed and integral-separated PI controller Velocity Step Technique response experimental result contrast schematic diagram.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
In a kind of permagnetic synchronous motor speed controlling provided the embodiment of the present invention below in conjunction with the accompanying drawings, anti-windup is saturated
Method be described in detail.This example is implemented in permagnetic synchronous motor speed controlling, uses double-closed-loop control, and internal ring is electric current
Ring, outer shroud is speed ring.
Electric current loop, typically far above speed ring, when therefore carrying out speed ring analysis design, can be equivalent to by electric current loop bandwidth
One constant is the amplifying element of 1.The structure chart that anti-windup saturated velocity of the present invention controls is as shown in Figure 1.
It is an object of the invention to design a kind of method that anti-windup is saturated, for the speed controlling of permagnetic synchronous motor,
The purpose of speed closed loop ensures rapidity and the stability of speed responsive.
The present invention proposes the method for control speed of a kind of permagnetic synchronous motor, including:
Step 1: obtain permanent-magnetic synchronous motor rotor physical location θ and actual mechanical angle speed by position sensor
ωr。
The equation of motion such as following formula of general AC servo:
Wherein J is motor load rotary inertia, ωrFor rotor mechanical separator speed, B is coefficient of friction, kTFor torque constant, us
For the output of amplitude limit link, TLFor load torque.
Actual machine angular velocity omega described in step 1rTested the speed acquisition by M method.Concrete speed-measuring method such as following formula:
Wherein p is that permagnetic synchronous motor revolves the pulse number turned around, m1For at stipulated time TgA pulse inside recorded
Number.Here TgUnit be the second.
Step 2: by desired mechanical angle speed omegarWith actual mechanical angle speed omegarSpeed error e as PI regulate
The input of device, it is judged that the output u of pi regulatornThe output u of (pi regulator is output as current value) and amplitude limit links(amplitude limit ring
Joint is output as electric current loop set-point).
Rotating speed deviation e described in step 2 can be expressed as:
E=ωr *-ωr
The input of the amplitude limit link described in step 2 is equal to the output of pi regulator, and amplitude limit link can be expressed as:
Wherein UhFor the maximum current value of permagnetic synchronous motor, UlMinimum current value for permagnetic synchronous motor.
Step 3: if unEqual to us, then pi regulator is operated in linear zone, the output u of pi regulatornFor proportional component with long-pending
Divide link sum；
The output u of the pi regulator in described step 3nCan be expressed as:
Up=Kpve(k)
K in formulapvFor velocity loop proportional gain, KivFor speed ring storage gain, speed error can be expressed as having k
The discrete form of discrete periodic, e (k) is the speed error of kth discrete periodic, and e (j) is that the rotating speed of jth discrete periodic misses
Difference, the span of j is from 0 to k, and k is total periodicity of discrete periodic, UpFor the output of proportional component, UiFor integral element
Output.
Utilize the motor movement equation in step 1, pi regulator can be obtained be operated in the equation of motion of linear zone be:
Step 4: if unIt is not equal to us, then pi regulator is operated in inelastic region, and pi regulator cancels integral element, by un
With usDifference by being integrated after gain, obtain integration initial value when pi regulator exits entrance linear zone, inelastic region
Integrated value in described step 4Can be expressed as:
Wherein kaFor target offset yield value, t is the pi regulator time when inelastic region.
Step 5: speed error e is multiplied by proportional gain as proportional component, by the integration described in proportional component and step 4
ValueIt is added, is operated in output u during inelastic region as pi regulatorn。
Pi regulator described in step 5 is operated in output u during inelastic regionnCan be expressed as:
Utilize the amplitude limit link in step 2 and the motor movement equation in step 1, pi regulator can be obtained and be operated in non-
The equation of motion of linear zone is:
Wherein ωrDuring more than zero, U is equal to Uh；ωrDuring less than zero, U is equal to Ul。
The present invention, by being said method, when pi regulator occurs saturated, when being i.e. operated in inelastic region, cancels original
Integral element, by the output u of pi regulatornOutput u with amplitude limit linksDifference according to certain gain integration.When pi regulator moves back
When going out saturated, integral part has certain initial value for integral.This method can integral saturation rejection phenomenon effectively, it is achieved permanent magnetism
Synchronous motor speed controlling is quickly and the advantageous characteristic of non-overshoot.Present invention could apply to the permagnetic synchronous motor of various power
Velocity close-loop control.
Novel anti-windup saturated PI controller and conventional PI control under the constant torque load that Fig. 3 provides for the embodiment of the present invention
Device and integral-separated PI controller Velocity Step Technique response experimental result contrast schematic diagram.With reference to Fig. 3, torque load(ing) is 1Nm, speed
Step instruction is 1500r/min, and wherein curve 1 is conventional PI control device velocity-response curve, and curve 2 controls for integral-separated PI
Device velocity-response curve, curve 3 is novel anti-windup saturated PI controller velocity-response curve.
Novel anti-windup saturated PI controller and traditional PI control under the shock load torque that Fig. 4 provides for the embodiment of the present invention
Device processed and integral-separated PI controller Velocity Step Technique response experimental result contrast schematic diagram.With reference to Fig. 4, during startup, torque load(ing) is
1Nm, Velocity Step Technique instruction is 1500r/min, in the load torque of 0.05s impact 3Nm, wherein curve 1 conventional PI control device speed
Degree response curve, curve 2 is integral-separated PI controller velocity-response curve, and curve 3 is novel anti-windup saturated PI controller
Velocity-response curve.
Particular embodiments described above, has been carried out the purpose of the present invention, technical scheme and beneficial effect the most in detail
Describe in detail bright it should be understood that the foregoing is only the specific embodiment of the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the protection of the present invention
Within the scope of.
Claims (7)
1. a permagnetic synchronous motor method for control speed, it is characterised in that comprise the following specific steps that:
Step 1: obtain rotor physical location θ and actual mechanical angle speed omega by position sensorr；
Step 2: by desired mechanical angle speed omegar *With actual mechanical angle speed omegarSpeed error as pi regulator
Input, it is thus achieved that the output valve of pi regulator and the output valve of amplitude limit link；
Step 3: determine that pi regulator is operated in linear zone according to the output valve of described pi regulator and the output valve of amplitude limit link
Or inelastic region；
Step 4: when pi regulator is operated in linear zone, by output valve and the integral element of the proportional component of described pi regulator
Output valve sum be operated in the output valve of linear zone as pi regulator；
Step 5: when pi regulator is operated in inelastic region, cancels the integral element of pi regulator, by the output of pi regulator
Value is integrated exiting at the beginning of integration during entrance linear zone, inelastic region as pi regulator with the difference of the output valve of amplitude limit link
Initial value；
At the beginning of step 6: when described pi regulator exits saturated, the output valve of the proportional component of described pi regulator and described integration
Initial value sum is operated in output valve during inelastic region as pi regulator.
2. the method for claim 1, it is characterised in that step 3 includes:
When the output valve of described pi regulator and the output valve of amplitude limit link are equal, determine that pi regulator is operated in linear zone；
When the output valve of described pi regulator and the output valve of amplitude limit link are unequal, determine that pi regulator is operated in non-linear
District.
3. the method for claim 1, it is characterised in that in step 5, described integration initial value is calculated as below:
Wherein,For described integration initial value, kaFor target offset yield value, t is the pi regulator time when inelastic region,
unAnd usIt is respectively output valve and the output valve of amplitude limit link of described pi regulator.
4. the method for claim 1, it is characterised in that when pi regulator is operated in linear zone described in step 4, described
The output valve of pi regulator is expressed as formula:
In formula, KpvFor velocity loop proportional gain, KIvFor speed ring storage gain, e (k) is the speed error of kth discrete periodic,
E (j) is the speed error of jth discrete periodic, and the span of j is the 0 total periodicity arriving that k, k are discrete periodic.
5. method as claimed in claim 4, it is characterised in that equation of motion when described pi regulator is operated in linear zone is such as
Under:
Wherein, ωrFor the mechanical angle speed that rotor is actual；B is coefficient of friction, kTFor torque constant, TLFor load torque.
6. the method for claim 1, it is characterised in that when pi regulator is operated in inelastic region described in step 6, institute
The output valve stating pi regulator is expressed as:
Wherein, KpvFor velocity loop proportional gain, e (k) is speed error deviation,For described integration initial value.
7. method as claimed in claim 6, it is characterised in that described pi regulator is operated in equation of motion during inelastic region
As follows:
Wherein, ωrFor the mechanical angle speed that rotor is actual；B is coefficient of friction, kTFor torque constant, TLFor load torque,
ωrDuring more than zero, U is equal to the maximum current value of motor；ωrDuring less than zero, U is equal to the minimum current value of motor.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842960A (en) * | 2017-03-29 | 2017-06-13 | 南京埃斯顿自动控制技术有限公司 | A kind of anti-windup saturation control method for motor control |
| CN110077241A (en) * | 2019-03-26 | 2019-08-02 | 合肥巨一动力系统有限公司 | A kind of power drive system der Geschwindigkeitkreis adjustment method based on rotary inertia |
| CN117134676A (en) * | 2023-10-24 | 2023-11-28 | 广州匠芯创科技有限公司 | Parameter correction method, servo system, electronic device and storage medium |
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| CN104932250A (en) * | 2015-04-30 | 2015-09-23 | 南京航空航天大学 | Novel PI controller structure and parameter setting method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842960A (en) * | 2017-03-29 | 2017-06-13 | 南京埃斯顿自动控制技术有限公司 | A kind of anti-windup saturation control method for motor control |
| CN106842960B (en) * | 2017-03-29 | 2020-06-12 | 南京埃斯顿自动化股份有限公司 | Integral saturation resistant control method for motor control |
| CN110077241A (en) * | 2019-03-26 | 2019-08-02 | 合肥巨一动力系统有限公司 | A kind of power drive system der Geschwindigkeitkreis adjustment method based on rotary inertia |
| CN110077241B (en) * | 2019-03-26 | 2021-10-15 | 合肥巨一动力系统有限公司 | Electric drive system rotating speed ring debugging method based on rotational inertia |
| CN117134676A (en) * | 2023-10-24 | 2023-11-28 | 广州匠芯创科技有限公司 | Parameter correction method, servo system, electronic device and storage medium |
| CN117134676B (en) * | 2023-10-24 | 2024-02-06 | 广州匠芯创科技有限公司 | Parameter correction method, servo system, electronic device and storage medium |
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