CN106842960B - Integral saturation resistant control method for motor control - Google Patents

Integral saturation resistant control method for motor control Download PDF

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CN106842960B
CN106842960B CN201710197011.7A CN201710197011A CN106842960B CN 106842960 B CN106842960 B CN 106842960B CN 201710197011 A CN201710197011 A CN 201710197011A CN 106842960 B CN106842960 B CN 106842960B
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controller
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integral saturation
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saturation
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胥小勇
杨凯峰
李军良
钱巍
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Nanjing Estun Automation Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Abstract

The invention discloses an anti-integral saturation control method for motor control, which is characterized in that on the basis of a traditional PI controller, an amplitude limiting module and an inverse calculation tracking anti-integral saturation control algorithm are adopted, and a compensation coefficient is adjusted in real time according to the running state of a system, so that the problem of overshoot or early desaturation possibly caused by unreasonable setting of a fixed compensation coefficient adopted in the traditional algorithm is solved.

Description

Integral saturation resistant control method for motor control
Technical Field
The invention relates to a motor control method, in particular to an anti-integral saturation control method for motor control.
Background
In a control system, various limitations often exist on a controlled object, for example, in a motor control system, a motor is limited by factors such as maximum current, maximum torque or heat generation, and therefore, a torque or a current set value of the motor needs to be limited.
For a motor control system adopting a PID controller, if the motor torque or current reaches a limit value in the control process, but the deviation is still not eliminated, at the moment, due to the integral action, the operation result of the controller is continuously increased or reduced, but the motor does not have corresponding action, so that the output of the controller is unequal to the actual input of a controlled object, and the phenomenon is called integral saturation. Integral saturation can cause system overshoot to be large, transition time to be long, closed loop response to be poor, and accidents can be caused in serious cases, so that a proper anti-integral saturation algorithm needs to be adopted in a control system.
Numerous scholars have studied the problem of integral saturation. Lee S, Linrui et al respectively in "Closed-loop estimation of permanent magnet synchronous motor parameters by P controller gain tuning" and "neural element controller based on integral separation PID control algorithm" documents disclose integral separation method, i.e. set up a switch link, when the controller takes place saturation amplitude limiting, stop or limit the integral function of the controller, this method is simple to implement, but lack robustness, once the system changes, this method can not necessarily inhibit the saturation phenomenon effectively; eric L, exemplary-but, etc. respectively in the literature of "Initial Evaluation of IETM application to Schoolhouse and Worksite tracking Functions", "application and improvement of variable speed integral PID control in magnetic suspension bearing control", etc. put forward the idea of variable speed integral, through changing the accumulation speed of the integral term, make it correspond to the magnitude of deviation, when the deviation is large, the integral accumulation speed is slow, when the deviation is small, the integral accumulation speed is fast, the integral effect can be changed dynamically with the change of the systematic deviation, but this method will bring certain disturbance to the system, at the switching point of the control structure, the output of the system will appear jumping; in recent years, PENG Youbin, zhan trapped wave and the like respectively put forward a back computing tracking (back computing tracking) algorithm in Anti-wind, round, and proportional transfer technologies for PID controllers, a direct drive permanent magnet wind power generator side converter vector control improvement method research and the like, and a negative feedback compensation module is introduced to an integration link on the basis of a limit controller to keep or reduce an integration effect.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an anti-integral saturation control method for motor control on the basis of an inverse calculation tracking algorithm in the prior art. Compared with the traditional inverse calculation tracking algorithm, the algorithm can automatically adjust the compensation parameters according to the running state of the system, avoids the phenomena of overshoot or early desaturation which may occur when the parameters are not set properly, and improves the self-adaptability of the algorithm and the overall control performance of the system.
The basic idea of the invention is as follows: on the basis of the existing PI controller, an amplitude limiting module and a reverse calculation tracking anti-integral saturation control algorithm are adopted, and a compensation coefficient is adjusted in real time according to the running state of the system, so that the problem of overshoot or early desaturation possibly caused by unreasonable setting of a fixed compensation coefficient adopted in the traditional algorithm is avoided. Firstly, parameters of a traditional PI controller are defined, then an amplitude limiting module and an inverse calculation tracking anti-integral saturation compensation module are introduced on the basis of the existing PI controller, and the output of an integral term is reduced or kept by setting a proper compensation coefficient, so that the output of the PI controller is restored to be within an amplitude limiting value as soon as possible. Then, on the basis of the existing inverse calculation tracking compensation module, the integral saturation depth is defined, a threshold constant is set, and the value of an anti-integral saturation compensation coefficient is automatically adjusted by judging the relation between the integral saturation depth and the threshold constant, so that the de-saturation effect of the traditional algorithm is maintained, and the adaptability and the overall control performance of the traditional algorithm are improved.
Based on the technical thought, the technical scheme provided by the invention for realizing the purpose of the invention is as follows:
an anti-integral saturation control method for motor control comprises the following steps:
step 1, determining the original output Un of the PI controller
Firstly, a control quantity ω r of the PI controller is given, then a feedback control quantity ω is measured, and a raw output Un of the PI controller is determined:
Figure BDA0001257621190000031
wherein: e is the deviation between ω r and ω, Kp、TiProportional coefficient and integral time constant, U, of PI controllerp、UiRespectively, the outputs of the proportional controller and the integral controller, and S is a complex variable;
step 2, giving the amplitude limiting value Us output by the PI controller
a. If Un is within the amplitude limiting value and Un-Us is less than or equal to 0, Un does not need to carry out anti-integral saturation compensation, and the final output Un' of the PI controller is as follows:
Un′＝Un (2)
b. if Un exceeds the limiting value and Un-Us is greater than 0, then go to step 3.
Step 3, setting a compensation coefficient Kc
First, an integral saturation depth e is definedu，euSetting a threshold constant α (α is more than 0, when the α value ranges from 0 to 0.5Us according to the simulation result, the control effect is better) when the value is equal to Un-Us, and judging the integral saturation depth euThe value of the compensation coefficient Kc is automatically adjusted in relation to a threshold constant α.
When 0 < eu＝un-usWhen the saturation depth is less than or equal to α, namely the saturation depth is within the threshold value, the compensation coefficient adopts a fixed coefficient Kc set by the traditional inverse calculation tracking compensation algorithm, and negative feedback compensation (-e) is provided for the integral controlleruKc) to saturation depth euIs reduced to 0;
when e isu＝un-usWhen the saturation depth is larger than α, the PI controller is in the deep saturation state, and the compensation coefficient Kc is adjusted to make the saturation depth euDecreases to a threshold constant α, then un＝us+ α, the following relationship is present:
Figure BDA0001257621190000041
the compensation factor can be obtained:
Figure BDA0001257621190000042
due to the integration time constant TiIs generally smaller in value (K)pTie-Tius-Tiα)＜＜Kpe, equation (3) can thus be approximated as follows:
Figure BDA0001257621190000043
from this, the compensation coefficient K can be determinedcThe regulation rule of (1) is:
Figure BDA0001257621190000044
step 4, determining the final output Un' after the integral saturation compensation resistance of the PI controller:
Figure BDA0001257621190000045
the method can adjust the compensation coefficient Kc in real time according to the saturation depth eu and the deviation e, so that the desaturation effect of the traditional inverse calculation tracking anti-integral saturation compensation algorithm is kept, and the adaptability and the overall control performance of the traditional algorithm are improved.
Drawings
FIG. 1 is a block diagram of a PI controller and an anti-integral saturation compensation module for inverse computation tracking in the method of the present invention. (in the figure, G is a transfer function of other components of the motor control system)
Fig. 2 shows the influence of different values of the compensation coefficient Kc on the control effect in the conventional algorithm.
FIG. 3 is a graph comparing the control effect of the method of the present invention with that of the conventional method when different compensation coefficients are used. Fig. 3(a) shows that the compensation coefficient Kc is small (Kc is 0.01), fig. 3(b) shows that the compensation coefficient Kc is ideal (Kc is 0.013), and fig. 3(c) shows that the compensation coefficient Kc is too large (Kc is 0.037).
Fig. 4 is a graph of the effect on control when the threshold constant α takes on different values.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example (b):
the method comprises the steps of selecting a permanent magnet synchronous motor, setting a rated power P to be 1kw, setting a rated current In to be 5.3A, setting a control quantity ω r of a PI controller to be 3000(rpm), setting a parameter Kp of the PI controller to be 160(rad/s) and setting a parameter Ti to be 0.02(s), and outputting a limiting value Us to the PI controller to be 9.54 (N.m).
In Matlab, when the threshold constant α is not present, the feedback control amounts obtained when the compensation coefficients Kc are 0.01, 0.013, and 0.037, respectively, are as shown in fig. 2.
As can be seen from fig. 2, the compensation coefficient Kc has a large influence on the control effect. When Kc is set reasonably (Kc is 0.013), saturation and desaturation effects are equivalent, overshoot can be eliminated well through an algorithm, and the system has the most ideal response; when Kc is set to be small (Kc is 0.01), desaturation is small, so that the system still has certain overshoot; when Kc is set to be too large (Kc is 0.037), the desaturation effect is too large, so that the system can generate an early desaturation phenomenon, and the transition time is prolonged.
When the threshold constant α is set to 0.5Us and the compensation coefficients Kc are set to 0.01, 0.013 and 0.037, the velocity feedback obtained by the algorithm of the present invention and the conventional algorithm is as shown in fig. 3(a), (b) and (c).
As can be seen from fig. 3, the traditional algorithm has a high requirement on the set compensation coefficient Kc, when Kc is smaller, the system still overshoots, when Kc is larger, the system generates a phenomenon of early desaturation, the transition time is longer, the setting range of the Kc value is wider, and the traditional algorithm is relatively dependent on manual experience; by adopting the algorithm of the invention, when the compensation coefficient Kc is changed in a certain range, more ideal control performance can be obtained.
The threshold constant α set in the algorithm is relatively easy to take values, the value range is generally between 0 and 0.5Us, and when the value is changed in a certain range, the influence on the control effect is smaller than the influence when the compensation coefficient Kc is changed, as shown in FIG. 4, and the adaptability of the algorithm is improved.
Therefore, the algorithm of the invention not only keeps the desaturation effect of the traditional algorithm, but also improves the adaptability of the traditional algorithm and the overall control performance of the system.

Claims (2)

1. An anti-integral saturation control method for motor control comprises the following steps:
step 1, determining the original output Un of the PI controller
Firstly, a control quantity ω r of the PI controller is given, then a feedback control quantity ω is measured, and a raw output Un of the PI controller is determined:
Figure FDA0001257621180000011
wherein: e is the deviation between ω r and ω, Kp and Ti are the proportional coefficient and integral time constant of PI controller, Up、UiRespectively, the outputs of the proportional controller and the integral controller, and S is a complex variable;
step 2, giving the amplitude limiting value Us output by the PI controller
a. If Un is within the amplitude limiting value and Un-Us is less than or equal to 0, Un does not need to carry out anti-integral saturation compensation, and the final output Un' of the PI controller is as follows:
Un′＝Un； (2)
b. if Un exceeds the amplitude limiting value and Un-Us is more than 0, then turning to step 3;
step 3, setting a compensation coefficient Kc
First, an integral saturation depth e is definedu，eu＝Un-UsSetting a threshold constant α, and determining the integral saturation depth euThe relation with the threshold constant α, and the value of the compensation coefficient Kc is automatically adjusted, and the adjustment rule of the compensation coefficient Kc is as follows:
Figure FDA0001257621180000012
step 4, determining the final output Un' after the integral saturation compensation resistance of the PI controller:
Figure FDA0001257621180000021
2. the method as claimed in claim 1, wherein the value of α is in the range of 0-0.5 Us.
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US10773748B2 (en) * 2018-05-17 2020-09-15 Steering Solutions Ip Holding Corporation Compensator anti-windup for motion control systems
CN110939519B (en) * 2019-11-20 2021-05-14 中国人民解放军海军工程大学 Current anti-integral saturation PI control method for starter of micro gas turbine
CN111624870B (en) * 2020-06-30 2023-10-03 中国科学院微电子研究所 Inversion anti-integral saturation method for precise motion control
CN111665712A (en) * 2020-07-09 2020-09-15 厦门势拓御能科技有限公司 Control method for resisting saturation and inhibiting overshoot and PI regulator
CN112523878B (en) * 2020-11-10 2021-11-09 东风汽车集团有限公司 EGR valve closed-loop control method based on EGR rate
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