CN104124908B - The system and method for ONLINE RECOGNITION ratio of inertias - Google Patents
The system and method for ONLINE RECOGNITION ratio of inertias Download PDFInfo
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Abstract
The invention provides a kind of system and method for ONLINE RECOGNITION ratio of inertias, said system includes sampling unit, the first computing unit and the second computing unit, wherein：The sampling unit, for when servomotor starts or be reverse, the rotating speed and corresponding electric current of multiple servomotors to be gathered with the fixed sampling time；First computing unit, for recognizing vector according to the Current calculation electromagnetic torque, and with the electromagnetic torque iterative calculation of the rotating speed of the collection and calculating acquisition；Second computing unit, for calculating ratio of inertias according to the identification vector.The present invention is iterated to calculate identification vector and calculated by identification vector by rotating speed, the electric current of sampling obtains ratio of inertias, and the ratio of inertias parameter of servomotor can be obtained without off-line operation, user's operation is simplified.
Description
Technical field
The present invention relates to Serve Motor Control field, a kind of system more specifically to ONLINE RECOGNITION ratio of inertias and
Method.
Background technology
In servo-drive system, ratio of inertias is an important governing factor, is the basis for setting up loop model.Ratio of inertias is
Ratio between load inertia and motor inertia, according to ratio of inertias, it is estimated that whether the Acceleration and deceleration time of servo-drive system can
Meet apparatus and process requirement.
Ratio of inertias discrimination method the most frequently used at present is to be based on off-line identification, i.e., obtaining it by acceleration and deceleration instruction adds
Velocity variable, and then calculate ratio of inertias.Above-mentioned offline ratio of inertias identification can no doubt obtain more accurately servo ratio of inertias, but
It can not tackle the situation that external inertia changes.If control parameter does not follow external inertia to change, Chang Hui than change
Serve Motor Control hydraulic performance decline is caused, using effect is influenceed.
Frictional force is important outer force-disturbance in SERVO CONTROL, and break when it is to servomotor inverted running has certainly
Qualitative effect, in order to do corresponding compensation, often calculates the coulomb friction of zero crossing using the mode of friction model.Current rubs
Model is wiped when calculating coulomb friction, due to being influenceed by friction model accuracy, correct result is difficult to obtain, and such as
Using complicated model, amount of calculation during practical application can be caused to greatly increase again, it is difficult to which real time execution is realized.
The content of the invention
The technical problem to be solved in the present invention is, external inertia change can not be tackled for above-mentioned offline ratio of inertias identification
The problem of there is provided a kind of system and method for ONLINE RECOGNITION ratio of inertias.
The technical scheme that the present invention solves above-mentioned technical problem is to provide a kind of system of ONLINE RECOGNITION ratio of inertias, including
Sampling unit, the first computing unit and the second computing unit, wherein：The sampling unit, for servomotor start or
When reversely, the rotating speed and corresponding electric current of multiple servomotors are gathered with the fixed sampling time；First computing unit, is used
According to the Current calculation electromagnetic torque, each electric current corresponds to an electromagnetic torque, and with the rotating speed of the collection and calculating
The electromagnetic torque iterative calculation identification vector of acquisition；Second computing unit, for calculating inertia according to the identification vector
Than；
The identification vector that first computing unit is calculated is：And pass through
The following calculating formula iterative calculation identification vector：Wherein
ψ (k-1)=[y (k-1) Te(k-1) -1]T, and the servomotor rotating speed that y obtains for sampling, TeFor electromagnetic torque, B is friction
Coefficient, TsFor sampling time, TlFor load torque, J be motor with load inertia and, β is recursion variable gain.
In the system of ONLINE RECOGNITION ratio of inertias of the present invention, the recursion variable gainWherein λ is the constant more than 0.
In the system of ONLINE RECOGNITION ratio of inertias of the present invention, it is single that first computing unit includes data conversion
Member and floating point arithmetic subelement, wherein：The data conversion subelement is for by the rotating speed of the servomotor of sampling and correspondingly
Electric current be converted to the power series that 16 systems are represented, and each power series are converted into self-defining data structure, it is described from
It is positive and negative that definition data structure includes character array after floating number is split, the effective bit length of floating number, floating number power series, floating number
Four defined variables；The floating point arithmetic subelement replaces floating number using the self-defining data structure and substituted into mutually accrued
Formula completes computing.
In the system of ONLINE RECOGNITION ratio of inertias of the present invention, second computing unit is additionally operable to distinguish according to
Know vectorial computational load torque；The system also includes compensation calculation unit, is rubbed for carrying out forward direction according to the load torque
Wipe compensation and reverse friction compensation.
The present invention also provides a kind of method of ONLINE RECOGNITION servo ratio of inertias, comprises the following steps：
(a) servomotor start or reversely when, with the fixed sampling time gather the servomotor multiple rotating speeds and
Corresponding electric current；
(b) according to the Current calculation electromagnetic torque, one electromagnetic torque of each electric current correspondence, and turning with the collection
Speed and the electromagnetic torque iterative calculation identification vector for calculating acquisition；
(c) ratio of inertias is calculated according to the identification vector；
In the step (b), the identification vector is：And identification vector
Iterated to calculate by following calculating formula：Wherein ψ (k-1)=
[y(k-1) Te(k-1) -1]T, y is servomotor rotating speed, TeFor electromagnetic torque, B is coefficient of friction, TsFor sampling time, TlFor
Load torque, J be motor and load inertia and, β is recursion variable gain.
In the method for ONLINE RECOGNITION servo ratio of inertias of the present invention, the recursion variable gainWherein λ is the constant more than 0.
In the method for ONLINE RECOGNITION servo ratio of inertias of the present invention, the step (b) comprises the following steps：
(b1) rotating speed of the servomotor of sampling and corresponding electric current are converted into the power series that 16 systems are represented；
(b2) each power series are converted into self-defining data structure, the self-defining data structure includes floating number
Positive and negative four defined variables of the effective bit length of character array, floating number, floating number power series, floating number after fractionation；
(b3) replace floating number using the self-defining data structure and substitute into corresponding calculating formula completion computing.
In the method for ONLINE RECOGNITION servo ratio of inertias of the present invention, the step (c) includes：According to the identification
Vectorial computational load torque；Include after the step (c)：Positive friciton compensation is carried out according to the load torque and reversely rubbed
Wipe compensation.
The present invention ONLINE RECOGNITION ratio of inertias system and method, by the rotating speed of sampling, electric current iterative calculation identification to
Measure and calculate acquisition ratio of inertias by recognizing vector, the ratio of inertias parameter of servomotor can be obtained without off-line operation, is simplified
User operation.Also, the present invention carries out friciton compensation by the ratio of inertias parameter of acquisition, can reduce servomotor it is reverse when
Pause.
Brief description of the drawings
Fig. 1 is servo-driver control schematic diagram.
Fig. 2 is the schematic diagram of the system embodiment of ONLINE RECOGNITION ratio of inertias of the present invention.
Fig. 3 is the schematic diagram of friciton compensation.
Fig. 4 is the schematic diagram of another friciton compensation.
Fig. 5 is the schematic flow sheet of the embodiment of the method for ONLINE RECOGNITION ratio of inertias of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, being the schematic diagram of the control of servo-driver., can in order to simplify calculating in the servo-driver
Frictional force is considered as to the linear function related to rotating speed, so that the equation of motion of servo driver drives servomotor operation can use
Formula (1) description (ω ' is rotor acceleration)：
Wherein, J is motor inertia and load inertia sum, TeFor electromagnetic torque, TlFor load torque, B is coefficient of friction.
Using formula (1) as a part for state equation (2), and calculated using the discretization method described by formula (3), most
The discretization equation expressed by calculating formula (4) can be obtained eventually.
OrderIt is vectorial for identification, to simplify the amount of calculation in program,
Identification vector can be obtained using Taylor series expansion：
Make ψ (k-1)=[ω (k-1) Te(k-1) -1]TFor known inputoutput data, i.e. ω (k-1) is sampling
Rotating speed (a upper sampling instant), Te(k-1) electromagnetic torque (a upper sampling instant) to be obtained according to the Current calculation of sampling.This
When can be recognized using the recurrence formula of calculating formula (6)：
So, after the value for obtaining above-mentioned identification vector is calculated, calculating formula (5) can be combined and obtain a ternary linear function
Group, and coefficient of friction B, motor and load inertia and J and load torque T can be obtained by solving the ternary linear function groupl,
Further to obtain ratio of inertias.
As shown in Fig. 2 being the schematic diagram of the system embodiment of ONLINE RECOGNITION ratio of inertias of the present invention.The system bag of the present embodiment
Include sampling unit 21, the first computing unit 22 and the second computing unit 23, above-mentioned sampling unit 21, the first computing unit 22 with
And second computing unit 23 can be integrated into the digital signal processor of servo-driver, certainly also can be using being connected to above-mentioned numeral
One or more chips of signal processor are constituted.
Sampling unit 21 be used for servomotor start or reversely when (in starting of the servomotor zero crossing as sampling
Time, so that the frictional force calculated is Coulomb friction), the rotating speeds of multiple servomotors is gathered and right with fixed sampling time Ts
The electric current answered.The encoder that the input of above-mentioned sampling unit 21 may be connected on servomotor, and according to the output of encoder
Signal of change goes out the rotating speed of servomotor.Also, above-mentioned sampling unit 21 can directly pass through the AD conversion for servo-driver of sampling
The output of unit obtains current data.Especially, the sampling unit 21 can sample the rotating speed and corresponding electricity of 200 groups of servomotors
Flow data, to ensure the accuracy of ratio of inertias identification, (data group of sampling is more, and identification is more accurate, but relative recognition speed meeting
It is slower).And the interval time (i.e. sampling time Ts) of the sampling of sampling unit 21 can be 1 millisecond or so.
It is (each that first computing unit 22 calculates electromagnetic torque according to the electric current of sampling and the moment coefficient of combination servomotor
One electromagnetic torque of electric current correspondence), and with the rotating speed of collection and calculate the electromagnetic torque obtained iterative calculation identification vector.Specifically
Ground, the identification vector is：Wherein TsFor sampling time, TlFor load torque, J is
Motor and load inertia and.
Specifically, above-mentioned identification vector can be iterated to calculate by following calculating formula and obtained：And ψ (k-1)=[y (k-1) Te(k-1) -1]T, y is (i.e.
Y (k)) it is the servomotor rotating speed that sampling is obtained, Te(i.e. Te(k-1)) it is electromagnetic torque, β is recursion variable gain.
Above-mentioned β value is if a constant basis, then recursive process will be unable to correctly reflect recursion (iterating to calculate)
Convergence process, if input data (i.e. rotating speed and electromagnetic torque) has mutation, saltus step will occur for recursion result, this to avoid
Situation is, it is necessary to which so that β value is with the carry out generation decay of recursion, its change procedure can be represented with calculating formula (7) formula：
Wherein λ is the constant more than 0, and in actual applications, above-mentioned λ can be directly disposed as 1.
Second computing unit 23 is used to calculate ratio of inertias according to identification vector, i.e., calculated and obtained according to the first computing unit 22
Identification vector value combineObtain a ternary linear function group and by asking
Solve the ternary linear function group and obtain motor and load inertia and J, load torque TlAnd coefficient of friction B, then further according to electricity
Machine calculates with load inertia and J and motor inertia and obtains ratio of inertias.
The system of above-mentioned ONLINE RECOGNITION ratio of inertias, ratio of inertias parameter can be obtained for rear without single off-line identification
Continuous Serve Motor Control, simplifies the operation of servo-driver.
Because the variable being related in the calculating process of the identification vector of the first computing unit 22 is more, and computer capacity is not
It is fixed, it is contemplated that SERVO CONTROL is often realized with fixed DSP, and above-mentioned calculating process can not directly be calculated by calibrating, because
This can complete above-mentioned calculating process in fixed DSP using floating-point arithmetic., can be by hits in order to reduce floating number amount of calculation
The power series represented according to regarding as 16 systems, are defined as follows data structure：
And addition subtraction multiplication and division computing is completed with above-mentioned data structure, final calculate obtains identification vector.That is the first computing unit
22 include data conversion subelement and floating point arithmetic subelement, and wherein data conversion subelement is used for the servomotor of sampling
Rotating speed and corresponding electric current be converted to the power series that 16 systems are represented, and each power series are converted into self-defining data knot
Structure, the self-defining data structure includes character array after floating number is split, the effective bit length of floating number, floating number power series, floating
Count positive and negative four defined variables；Floating point arithmetic subelement replaces floating number using self-defining data structure and substituted into mutually accrued
Formula completes computing.
In the system of above-mentioned ONLINE RECOGNITION ratio of inertias, a compensation calculation unit is may also include, the compensation calculation list
Member is used to calculate the load torque T obtained according to the second computing unit 23l, and by load torque TlIt is used as servomotor zero passage
The frictional force of point, and then compensate.For simplified operation, compensation calculation unit can set forward direction according to command speed direction
Friciton compensation value a and reverse friction offset-a, as shown in Figure 3.
The premise of above-mentioned compensation way is, it is assumed that the load torque that identification is obtained during servomotor positive and negative operation is equal to friction
Power, but a kind of this situation when being practical application.Also a kind of situation is when servomotor right angle setting, according to identification
Ratio of inertias calculates in obtained load torque and contains gravity, due to mode is expressed as below when being run above and below servomotor：
Wherein TgFor suffered gravity, TfFor friction, a+For load climb acceleration, a-Decline acceleration for load,
Therefore the load torque picked out is represented by：
Wherein Tl+Load torque when rising for load, load torque when Tl- declines for load.Now, need to be by forward direction
Friciton compensation a and reverse friction compensation-a are combined with gravity compensation, and its compensation way is as shown in Figure 4.
As shown in figure 5, being the schematic flow sheet of the embodiment of the method for ONLINE RECOGNITION servo ratio of inertias of the present invention.This method can
Directly run, and comprise the following steps in servo-driver：
Step S51：When servomotor starts or be reverse, the multiple of the servomotor are gathered with fixed sampling time Ts
Rotating speed and corresponding electric current.
In this step, it is in initial time of the servomotor zero crossing as sampling, so that the frictional force calculated is storehouse
Human relations rub.And the output signal for the encoder that the rotating speed of servomotor can be arranged on servomotor by sampling is realized, and
Current signal is then directly obtained by the output of the AD sampling units for servo-driver of sampling.Especially, it can be sampled in the step
The rotating speed and corresponding current data of 200 groups of servomotors, to ensure the accuracy of ratio of inertias identification, (data group of sampling is got over
Many, identification is more accurate, but relative recognition speed can be slower), and the interval time sampled can be 1 millisecond or so.
Step S52：According to the Current calculation electromagnetic torque, and with the rotating speed of the collection and calculate the electromagnetism obtained turn
Square iterative calculation identification vector.
Step S53：Ratio of inertias, load torque and coefficient of friction are calculated according to identification vector.
In this step, above-mentioned identification vector is：And the identification vector passes through
Following calculating formula iterative calculation：Wherein ψ (k-1)=[y (k-1)
Te(k-1) -1]T, y is servomotor rotating speed, TeFor electromagnetic torque, B is coefficient of friction, TsFor sampling time, TlTurn for load
Square, J be motor and load inertia and, β is recursion variable gain.Also, there is mutation to cause for the sampled data for avoiding input
Recursion result produces saltus step, can make above-mentioned recursion variable gain
Wherein λ is the constant more than 0.
Also, can be by the rotating speed of the servomotor of sampling and right to ensure the operation efficiency of fixed DSP in servo-driver
The electric current answered is converted to the power series that 16 systems are represented, and each power series are converted into self-defining data structure, and using upper
State self-defining data structure and substitute into corresponding calculating formula completion computing.Above-mentioned self-defining data structure includes character after floating number is split
Positive and negative four defined variables of the effective bit length of array, floating number, floating number power series, floating number.
In addition, may also include after step S53：Positive friciton compensation is carried out and reverse according to the load torque picked out
Friciton compensation.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (8)
1. a kind of system of ONLINE RECOGNITION ratio of inertias, it is characterised in that：Including sampling unit, the first computing unit and the second meter
Unit is calculated, wherein：The sampling unit, for when servomotor starts or be reverse, gathering multiple with the fixed sampling time
The rotating speed of servomotor and corresponding electric current；First computing unit, it is each for according to the Current calculation electromagnetic torque
Electric current one electromagnetic torque of correspondence, and with the rotating speed of the collection and calculate the electromagnetic torque obtained iterative calculation identification vector；
Second computing unit, for calculating ratio of inertias according to the identification vector；
The identification vector that first computing unit is calculated is：And pass through following meter
The formula iterative calculation identification vector：Wherein ψ (k-1)
=[y (k-1) Te(k-1) -1]T, and the servomotor rotating speed that y obtains for sampling, TeFor electromagnetic torque, B is coefficient of friction, Ts
For sampling time, TlFor load torque, J be motor with load inertia and, β is recursion variable gain.
2. the system of ONLINE RECOGNITION ratio of inertias according to claim 1, it is characterised in that：The recursion variable gainWherein λ is the constant more than 0.
3. the system of ONLINE RECOGNITION ratio of inertias according to claim 1 or 2, it is characterised in that：First computing unit
Including data conversion subelement and floating point arithmetic subelement, wherein：The data conversion subelement is used for the servo of sampling
The rotating speed of motor and corresponding electric current are converted to the power series that 16 systems are represented, and each power series are converted to self-defined
Data structure, the self-defining data structure includes character array, the effective bit length of floating number, floating number power after floating number is split
Positive and negative four defined variables of series, floating number；The floating point arithmetic subelement replaces floating using the self-defining data structure
Count and substitute into corresponding calculating formula and complete computing.
4. the system of ONLINE RECOGNITION ratio of inertias according to claim 1, it is characterised in that：Second computing unit is also used
According to the vectorial computational load torque of the identification；The system also includes compensation calculation unit, for being turned according to the load
Square carries out positive friciton compensation and reverse friction compensation.
5. a kind of method of ONLINE RECOGNITION servo ratio of inertias, it is characterised in that：Comprise the following steps：
(a) start in servomotor or reversely when, multiple rotating speeds and correspondingly of the servomotor are gathered with the fixed sampling time
Electric current；
(b) according to the Current calculation electromagnetic torque, each electric current one electromagnetic torque of correspondence, and with the rotating speed of the collection and
Calculate the electromagnetic torque iterative calculation identification vector obtained；
(c) ratio of inertias is calculated according to the identification vector；
In the step (b), the identification vector is：And the identification vector passes through
Following calculating formula iterative calculation：Wherein ψ (k-1)=[y
(k-1) Te(k-1) -1]T, and y is servomotor rotating speed, TeFor electromagnetic torque, B is coefficient of friction, TsFor sampling time, TlFor
Load torque, J be motor and load inertia and, β is recursion variable gain.
6. the method for ONLINE RECOGNITION servo ratio of inertias according to claim 5, it is characterised in that：The recursion variable gainWherein λ is the constant more than 0.
7. the method for the ONLINE RECOGNITION servo ratio of inertias according to claim 5 or 6, it is characterised in that：Step (b) bag
Include following steps：
(b1) rotating speed of the servomotor of sampling and corresponding electric current are converted into the power series that 16 systems are represented；
(b2) each power series are converted into self-defining data structure, the self-defining data structure is split including floating number
Positive and negative four defined variables of the effective bit length of character array, floating number, floating number power series, floating number afterwards；
(b3) replace floating number using the self-defining data structure and substitute into corresponding calculating formula completion computing.
8. the method for ONLINE RECOGNITION servo ratio of inertias according to claim 5, it is characterised in that：The step (c) includes：
According to the vectorial computational load torque of the identification；Include after the step (c)：Positive friction is carried out according to the load torque
Compensation and reverse friction compensation.
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| CN1925310A (en) * | 2005-08-30 | 2007-03-07 | 台达电子工业股份有限公司 | Motor speed control system and load inertia estimating method using inverse operating model |
| CN103338003A (en) * | 2013-06-28 | 2013-10-02 | 西安交通大学 | Online simultaneous identifying method for load torque and inertia of motor |
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| CN1925310A (en) * | 2005-08-30 | 2007-03-07 | 台达电子工业股份有限公司 | Motor speed control system and load inertia estimating method using inverse operating model |
| CN103338003A (en) * | 2013-06-28 | 2013-10-02 | 西安交通大学 | Online simultaneous identifying method for load torque and inertia of motor |
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