CN1067341A - The System and method for of control motor speed - Google Patents
The System and method for of control motor speed Download PDFInfo
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- CN1067341A CN1067341A CN92103246A CN92103246A CN1067341A CN 1067341 A CN1067341 A CN 1067341A CN 92103246 A CN92103246 A CN 92103246A CN 92103246 A CN92103246 A CN 92103246A CN 1067341 A CN1067341 A CN 1067341A
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Abstract
A kind of system and method with extremely low speed scope inner control motor of rotational pulse encoder, when electric machine rotational axis turns over a predetermined angular, pulse of this pulse coder output, the extremely low speed scope of definition, make the pulse spacing of output pulse be longer than system's control cycle, provide a minmal sequence disturbance, load torque estimated value observer, calculate the motor speed mean value in each pulse spacing according to following formula
Wherein i represents the speed control cycle, the pulse spacing of j indicating impulse encoder.
Description
The present invention relates to a kind of System and method for, it is used in extremely low motor speed range, uses a rotational pulse encoder to control the speed of a motor as the motor speed detector.
Usually, one previously presented about the motor speed control system that uses a rotational pulse encoder with suitable low resolution in, when motor rotates with low-down speed, each adjacent pulse that draws from pulse coder (or each rises pulse period) at interval becomes usually and (or draws from a microcomputer reference pulse than a speed control cycle, be used for calculating the sampling pulse interval of motor speed) long, so that in the cycle, can't obtain accurate velocity information in speed control.
So as described below with reference to Fig. 1 (A)～1(D), in extremely low velocity interval, it is unstable that above-mentioned motor speed control system often becomes.
A pulse coder of installing around motor rotation axis near zero motor low-speed range, produces the pulse shown in Fig. 1 (C).
In detail, in the low motor speeds scope, velocity of rotation n
MGenerally be linear characteristic with respect to time t, shown in Figure 1A.
Yet the angle θ of motor rotation axis generally is flexural property with respect to time t, shown in Figure 1B.
Thereby the pulse spacing of the pulse train that obtains from pulse coder can become more and more narrow in time, shown in Fig. 1 (C).
When the pulse information shown in Fig. 1 (C) changes, can be according to pulse spacing T
P(j) and the relative pulse interval T
P(j) pulse change rate derives the pulse spacing T shown in Fig. 1 (D)
P(j) Nei average speed
(j).So, if pulse spacing T
P(j) the specific rate control cycle is long, just can't test the speed during each speed control week.
The average speed value of Shi Yonging is previous mean value this moment
Therefore in low-speed range along with the variation of motor speed, average speed value and actual speed n
MBetween deviation become big, cause speed control to become unstable.
Japanese patent application is put down into 2-307384 number (December 20 nineteen ninety is open first) and has been proposed another speed control system, and this system has improved the control characteristic to this unsettled speed.
In disclosed above-mentioned patent application, speed control system in extremely low velocity interval, uses a load torque estimated value to determine velocity of rotation.Yet, because the device of working load torque estimated value is a kind of complete sequence state observer, so the adjustment of its gain (PI) is very difficult.
On the other hand, this unstable control problem and the slow-response characteristic issues in extremely low motor speed range all need to solve, and particularly at servomotor equipment and need to use in the lift of high position precision, these problems more need solve.
Although can use a solver or a high accuracy rotational pulse encoder, as speed detector, except instability problem, still have many problems to exist, as: gain adjustment problem and cost problem.
T.IEE Japan paper 107-D volume, 1987 No. 12, be entitled as: operating speed is estimated the digital servo of observer " paper (" Digital Servo Using Speed Estimation Observer ") provided another digital servosystem example.This system's operating speed is estimated observer (complete sequence state observer), and this observer is the extended pattern that a load torque is estimated observer.
So one object of the present invention is to provide a kind of speed control system and method, it can finish the stable control of motor speed in extremely low motor speed range, and makes ride gain be easy to adjust.
Above-mentioned purpose can realize that this system comprises by a kind of like this system that is used to control motor speed is provided: a) motor; B) be attached to speed detector on the motor rotation axis, this detector is used to detect the velocity of rotation of motor, and can produce and export a pulse train according to detected velocity of rotation; C) motor speed is estimated observer, this observer uses the minmal sequence disturbance observer on the load estimated value, this minmal sequence disturbance observer is converted into the discrete system model of a speed control periodic system and speed sense cycle system, and this motor speed estimates that observer is used to estimate the speed of motor in a pulse spacing that is produced by speed detector.
Above-mentioned purpose also can be by providing a kind of in extremely low velocity interval, and the system that uses the rotational pulse encoder to control motor speed realizes.When motor rotation axis turned over a predetermined angular, this encoder was just exported a pulse, and the regulation of utmost point low-speed range makes the speed control cycle of the pulse-to-space ratio system that exports pulse long; Described system comprises: minmal sequence disturbance, load torque estimated value observer, described observer comprises: one first computing unit is used for calculating according to a torque desired value and load torque estimated value the estimated value of motor model motor speed
(j); One second computing unit is used to calculate the mean value of motor speed in each pulse spacing
(j), its computational process is as follows:
Wherein i represents the speed control cycle, the pulse spacing of j indicating impulse encoder; One first deviation unit is used for calculating the motor speed mean value that draws from second computing unit
(j) with pulse obtains based on pulse coder motor speed mean value
(j) deviation between; One second deviation unit is used to calculate the output valve n ' of first deviation unit
M(i) export with the deviation of first deviation unit
(j) deviation between is with the generation value
(i); A proportional gain observer, this observer output is from the estimation load torque values of the deviation output of first deviation unit
(j); And one the 3rd deviation unit, be used for computational load torque desired value τ
M*(i) with the load estimated value that from the proportional gain observer, obtains
(j) deviation between.
Above-mentioned purpose can also be by providing a kind of in the extremely low speed scope, uses the motor speed control method of a rotational pulse encoder and minmal sequence disturbance and load torque estimated value observer to realize.Wherein encoder is just exported a pulse when motor rotation axis turns over a predetermined angular, and the regulation of utmost point low-speed range makes the pulse-to-space ratio speed control cycle of output pulse long.This method that is used for motor speed control comprises step: the estimated value of a) calculating the motor speed of motor model according to a torque desired value and load torque estimated value
(j); B) press the mean value that following formula calculates motor speed in each pulse spacing
(j):
Wherein i represents the speed control cycle, the pulse spacing of j indicating impulse encoder; C) provide one first deviation output, it is a motor speed mean value that is drawn by step b)
(j) with the motor speed mean value that draws based on the pulse of pulse coder
(j) deviation between; D) provide one second deviation output, (it is an output valve n who is drawn by step a
M '(i) and the deviation between the deviation of the step c output), and the value of obtaining
(i); E) export the estimation load torque values that from first deviation output of step c), draws
(j); F) provide one the 3rd deviation output, it is load torque desired value τ
M*(i) with the load estimated value that in step e), draws
(j) deviation between.
Fig. 1 (A)～1(D) is in utmost point low-speed range, when measuring the motor rotation speed of the speed control system that is added with prior art, and the characteristic curve of encoder pulse interval variation;
Fig. 2 is a circuit block diagram that is used to explain the velocity estimation operation principle;
Fig. 3 is another circuit block diagram that is used to explain the velocity estimation operation principle;
Fig. 4 is one and is used to explain the signal timing figure that concerns between speed control cycle and the encoder pulse;
Fig. 5 is one and is used to explain the circuit block diagram according to the total notion of zero velocity observer of motor speed control system of the present invention;
Fig. 6 is the circuit block diagram that is used to explain according to first preferred embodiment of motor speed control system of the present invention, and the zero velocity observer can use thereon as shown in Figure 5;
Fig. 7 is the circuit block diagram that is used to explain according to second preferred embodiment of motor speed control system of the present invention.
Fig. 8 is the circuit block diagram that is used for explaining according to an essential part of second preferred embodiment of motor speed control system of the present invention.
Fig. 9 is the circuit block diagram that is used for explaining according to the 3rd preferred embodiment essential part of motor speed control system of the present invention;
Figure 10 is the circuit block diagram that is used to explain according to the 4th preferred embodiment of motor speed control system of the present invention;
Figure 11 is used to explain the signal timing figure of the relation between the 4th preferred embodiment medium velocity control cycle and encoder pulse as shown in figure 10;
Figure 12 is the estimating speed curve chart when predetermined speed that calculates by Figure 11 is corrected the velocity estimation value.
Figure 13 is the circuit block diagram that is used to explain according to the 5th preferred embodiment of speed control system of the present invention;
Figure 14,15, the 16th explains the processing procedure of average processing unit 100 shown in Figure 13.
In order better to understand the present invention, below describe with reference to accompanying drawing.
Fig. 1 (A)～1(D) had explained in the background of invention.
(first preferred embodiment)
At first explain the working load torque below and estimate the zero velocity observer of observer (minmal sequence disturbance observer).
(A) part that will describe below noting and (B) part be based on being entitled as of Japan " the unusual speed estimation method of low-speed region use lowest series disturbance observer (A Speed Estimation Method at Very Low Speed Region Using Least Order Disturbance Observer " paper, this paper publishing is in the domestic seminar in 3 years of putting down into of the commercial Application portion of electric power association (Electric Society, In-dustrial Application Deptartment) on August 27th, 1991.
(A) basic principle of velocity estimation:
Fig. 2 has provided the functional structure of load torque estimation observer by a minmal sequence disturbance observer.T among Fig. 2
M*The inertia constant of a motor model of expression.Because in the minmal sequence disturbance observer, an observer gain g includes only a scale factor (I), so in the working load torque tau
LThe time, a model output estimated value
(i) with speed m
MBetween deviation can appear.(notice that if this observer is made of a complete sequence state observer, this observer gain comprises ratio and integrating factor (PI), and under a stable state, equation
=n
MSet up; But under an instantaneous state that burst changes such as load torque, above-mentioned equation is false).This is a relevant explanation of using the velocity estimation of minmal sequence disturbance observer, and wherein observer has the adjustment ride gain factor seldom.
Deviated by following equation (1) (2):
Because observer increment g is used as the PI(proportional integral in a complete sequence state observer) factor, so model output estimated value
(i) equal speed n under the stable state
M, suppose that equation is false under an instantaneous state that changes such as load burst.
For usage factor is adjusted less minimum (minimum) sequence disturbance observer estimating speed, when to equation (2) when making amendment, speed can be estimated according to following formula:
The relation of expression is added on Fig. 2 in the equation (3), and from Fig. 3 estimated speed.
(B) estimation of speed in a zero-speed scope:
When using a rotational pulse encoder, in a utmost point low-speed range, from encoder, draw time interval between the pulse to become and to grow than a speed control cycle (drawing) from the reference clock of a microcomputer as a speed detector.
Fig. 4 has provided the relation between speed control cycle and the encoder pulse.
In Fig. 4, T
SThe expression speed control cycle, T
PThe pulse period of presentation code device, and Td represents T
SWith T
PBetween poor.
When the pulse of input coding device, according to following formula (4) from pulse period T
PDraw the mean value of a speed:
Wherein, PP: the umber of pulse (P/R) in a moving week of encoder revolution;
T
P: the one-period of encoder pulse (Sec);
: the mean value (rpm) of per second motor number of revolutions.
Because the speed detected value just draws from mean value, the structure of observer is made of a discrete system as shown in Figure 5.
Fig. 5 has provided the general construction of the zero velocity observer of a use minimum (minimum) sequence interference observer.
The speed detected value is by mean value
(j) expression, and model output estimated value
(i) also represent by this mean value.Deviation between the mean value is used to estimate the load torque estimated value
(j).Mean value in the pulse spacing
(j) can derive by following equation (5):
N(j wherein) is illustrated in T
P(j) (=T
P/ T
S) between, the leading number of times of control cycle.
By the minmal sequence disturbance observer, first preferred embodiment of using the zero velocity observer is described below with reference to Fig. 6.
As shown in Figure 6, a deviation detector, a velocity-variation amplifier, and adder is added in as shown in Figure 5 the structure.
In Fig. 6, second deviation detector 11 receives a torque desired value τ
M*(i) and a load torque estimated value
(j), this deviation output offers first computing unit 12.First computing unit 12 comprises: a divider 12a(uses the speed control period T in 12a
SDivided by prototype time constant T
M*), integral unit 12c and this adder of adder 12b(be added to the output of divider 12a in the output of integral unit 12c).
Export estimated value by the model that first computing unit 12 obtains
(i) be added on one second computing unit 13, the mean value that second computing unit, 13 derived pulses are interior at interval, and with this result of calculation
(j) output to the positive input terminal of one first deviation unit 14.The negative input end of deviation unit 14 then receives the mean value that the speed that is detected by pulse coder 15 detects output
(j).
The deviation output of first deviation unit 14 offers an observer gain unit 16, and this unit 16 provides predetermined (conventional scale factor) gain for this input deviation value, so that export a load torque estimated value
(j).
In addition, the output of the deviation of first deviation unit 14 also offers a negative input end of second deviation unit 17.The positive input terminal of second deviation unit 17 then receives model output estimated value
(i).Second deviation unit, 17 output speed estimated values
(i).The velocity deviation value
(i) with speed setting value n
M*(i) all be added to the negative input end and the positive input terminal of one the 3rd deviation unit 18.The deviation output of the 3rd deviation unit 18 is provided to has a proportional gain K
WCVelocity-variation amplifier 19.Adder 20 is added to the load torque estimated value with the output of velocity-variation amplifier 19
(j) on, to produce torque desired value τ
M*This torque command τ
M*Be provided on one the 4th deviation parts 21, so that produce deviation from load torque, and provide it to motor, promptly the motor model unit 22.
In first preferred embodiment, torque desired value τ
M*With the load torque estimated value
(j) deviation between is by observation model machine time constant T
M*Integration is to produce model output estimated value
(i).Next step is from value
(i) in, derive the mean value in the pulse spacing
(j).So can be from the mean value speed on the pulse change
(j) calculation deviation in
(j), this deviation multiply by observer gain (g) and produces a load torque estimated value
(j).Then, when deducting observer model is exported
(i) and during the deviation between the output of first deviation unit 14, just can estimate the speed of impulse duration, thus the derivation estimating speed
(i).To be worth
(i) be provided to velocity-variation amplifier 19, finish the control of motor speed as a feedback signal.Note the load torque estimated value
(j) output that is added to velocity-variation amplifier 19 by adder 20 to be producing the torque desired value, thereby can suppress the disturbance in the load.
In first preferred embodiment, for direct current machine, the current detection value of its rotor is used as torque desired value τ
M*(i); And for the situation that induction machine and speed control are vector control, the torque current detected value is used as torque desired value τ
M*(i).Note that and to use a desired value to replace each current detection value.
About the vector control of induction machine, on August 29th, 1989, the United States Patent (USP) the 4th, 862,343 of promulgation was made illustration (this document is hereby incorporated by data).
(second preferred embodiment)
Fig. 7 has provided second preferred embodiment of the speed control system that is used for motor 22.
Although its structure is almost identical with first preferred embodiment shown in Figure 6, between pulse coder 15 and deviation unit 14, introduced the 3rd computing unit 23, following content concentrates on description for the 3rd computing unit 23 with emphasis.
Fig. 8 shows the internal circuit block diagram of the 3rd computing unit 23.
The 3rd computing unit 23 comprises: a comparator 24, the output that it calculates the 3rd computing unit 23
(j) first output valve in the sequence
Size and the mean value that obtains from pulse coder 15
(j) first pulse of sequence output
Size compare; A pulse output detecting unit 25 is to detect or affirmation mean value
(j) first pulse output; A "AND" circuit 26 is used to receive the output of detecting unit 25 and comparator 24, and the switch contact 27 of a relay (not shown) of output valve after the AND operation of operation "AND" circuit.
Next introduce the operation principle of the 3rd computing unit.
Under the normal condition, relay contact 27 connects by mode shown in Figure 8, and with mean value
(j) be added to first deviation unit 14.
When comparator 24 is judged
The time, the output of comparator 24 is designated as " 1 ".
On the other hand, when detecting unit 25 confirmed that it is first pulse, the output of detecting unit 25 was designated as " 1 " and it is added on the "AND" circuit 26.Because "AND" circuit 26 receives two " 1 ", so the output valve after the "AND" circuit 26 output AND operations with field application relay, causes switch relay contact 27 temporarily to be exchanged to successively on the opposite direction contact different with the diagram contact.
The output of second computing unit 13 as a result is added on two inputs of first deviation unit 14, and the departure vanishing.So, because the influence of first pulse that causes of encoder initial position error is eliminated, so even during at electric motor starting with utmost point low-speed running, it is still very high to drive stability.
(the 3rd preferred embodiment)
Introduce the 3rd preferred embodiment of speed control system below.
Notice that the 3rd preferred embodiment is substantially the same with second preferred embodiment that comprises the 3rd computing unit 23.
Yet, because the structure of the 3rd computing unit is with shown in Figure 8 different, so introduce the structure and the operation principle of the 3rd computing unit of the 3rd preferred embodiment in the 3rd preferred embodiment.
Fig. 9 shows the structure of the 3rd computing unit 23 of the 3rd preferred embodiment.
In Fig. 9, an integrator 31 is provided, be used for the mean value of integrating rate detected value
(j) and export integrated value
Value
Be provided to an input of comparator 32, another input of comparator 32 then receive in the zero-speed scope (as, normal speed 1/2000) value n
M2*When
＜n
M2*The time, comparator 32 output one place values " 1 " are to the first input end of "AND" circuit 33.Counter of numeral 34 expressions, it is used for speed control periodic signal (i) is counted to produce corresponding counting output n
c, counting output n
cBe provided to an input of comparator 35.Another input of comparator 35 receives a zero velocity count value n
z(for example when motor speed be normal speed 1/2000 the time, this value is four times of pulse coder pulse signal cycles of ratio T
PLonger value).
Work as n
z＜n
cThe time, comparator 35 outputs " 1 ".The value " 1 " of output is provided to second input of "AND" circuit 33 from comparator 35.When first and second outputs all are " 1 ", "AND" circuit 33 output AND operations output so that encourage a relay (not shown), and switch contact 36 put to one with different opposite contact shown in Figure 9.Notice that the rising edge of a detector of numeral 37 expressions is as being made of OR circuit 38 of numeral 38 expressions a monostable flipflop.
In the 3rd preferred embodiment, as pulse output (4 times of signal period T of a ratio in a constant time cycle from encoder
PThe longer time, as speed 1/2000) when constant, when motor in zero velocity scope (normal speed 1/2000 or lower) when rotating, n
M=0 and be sent to first deviation unit 14.
Therefore, when execution speed was estimated the calculating of observer and speed control system, the recurrence of speed setting value was fixed.
In utmost point low-speed range, when load torque changes, can produce above-mentioned such state.
In the second and the 3rd preferred embodiment, torque desired value τ
M*With the load torque estimated value
(i) deviation between is by observer model machine time constant T
M*Come integration, to produce model output estimated value
(i).Next step, from
(i) mean value of derivation in the pulse spacing in the value
(j).So derive from average speed value based on pulse change
(j) deviation.This deviation is observed device gain (g) and goes to take advantage of, to produce a load torque particular value
(j).After this, when observer model is exported
(i) and the deviation between the output of first deviation unit 14 when doing subtraction, can estimate the speed of impulse duration, to produce the estimating speed value
(i).Value
(i) be provided for velocity-variation amplifier 19 as a feedback signal, thereby realize the control of motor speed.It should be noted that the load torque estimated value
(j) be added to the output of velocity-variation amplifier 19 by adder 20, drawing the torque desired value, thereby the disturbance in the load be suppressed.
Furtherly, in the second and the 3rd preferred embodiment, be under the situation of a direct current machine at motor, the current detection value of its rotor is used as torque desired value τ
M*(i), and be that induction machine and speed control are under the situation of a vector control at motor, the torque current detected value is used as torque desired value τ
M*(i).Notice that a desired value can be used for replacing each current detection value.
(the 4th preferred embodiment)
Figure 10 represents the 4th preferred embodiment according to speed control system of the present invention.
As shown in figure 10, wherein use " some dot-dash " to be shown in dotted line with the first preferred embodiment structure difference.
So,, will concentrate among Figure 10 by this internal structure that is shown in dotted line for the explanation of the 4th preferred embodiment.
That is to say that the velocity estimation value that derives from second deviation unit 17 is applied in a first input end of comparator 23, comparator 23 work in the time of in motor speed falls into the extremely low speed scope.
Second input that it should be noted that comparator 23 receives predetermined speed value that derives from predetermined speed computing unit 24.
Then, this predetermined speed computing unit 24 is carried out following equation (6):
Wherein, PP: the umber of pulse of the moving all encoders of revolution;
(i): predetermined speed;
T
S: the speed control cycle.
A counter 25 calculates this speed control recurrent pulse T
S, and response is by rising edge detector 27(trigger for example) detected speed detects pulse (cycle is T
P) rising edge and counter 25 is resetted.Therefore, counter 25 is to predetermined speed calculator 24 output count results, when it is reset till.Comparator 23 compares predetermined speed and velocity estimation value.When velocity estimation value during greater than this predetermined speed, the output of comparator 23 be used to the switch contact 27 of relay from " opening " (ON) state exchange to " pass " (OFF) state.When the velocity estimation value was equal to or less than this predetermined speed, switch contact 27 was transformed into the OFF position from the ON position.Meanwhile, when motor speed fell into utmost point low-speed range, the negative input end of the 3rd deviation unit 18 received this predetermined speed value through switch contact 27.On the other hand, the positive input terminal of the 3rd deviation unit 18 inbound pacing set point n then
M*(i), the output of the deviation of the 3rd deviation unit 18 is applied to and has proportional gain K
WCVelocity-variation amplifier 19 on.The output of velocity-variation amplifier 19 and load torque estimated value are added on the adder 20, so that extrapolate torque desired value τ
M*
Torque desired value τ
M*By the deviation of the 4th deviation unit 21 receptions, and be applied on the motor 22, carry out speed control it with load torque.It should be noted that, because in the high-speed range of motor 22, the predetermined speed in equation (6) is far above actual speed, so relay switch contacts 27 remains on the OFF state.
In the 4th preferred embodiment, the difference between torque desired value τ * (i) and the load torque estimated value is to observer model machine time constant T
M*Integration draws this model output estimated value.
Next, when the mean value under this pulse spacing draws from the estimated value that is derived by integrator 12c, calculate the mean value in interpulse period and the speed average that draws according to pulse change between deviation.This deviation between them multiply by observer gain g, draws the load torque estimated value.After this, in second deviation unit 17, derive the output estimated value of observer model and the deviation between first deviation unit 14,, thereby draw the velocity estimation value so that estimate interpulse speed.
This velocity estimation value is added to the first input end of comparator 23.When the velocity estimation value is equal to or less than when being added to predetermined speed value of predetermined speed computing unit 24 of second input of comparator 23, relay switch contacts 27 is switched to the OFF state from the ON state.When velocity estimation value during greater than predetermined speed value, relay switch contacts 27 is switched to ON position (different with the state shown in Figure 10).
Figure 11 represents the relation between speed control cycle and the encoder pulse.
As shown in figure 11, when reaching the calculation times i of equation (6), predetermined speed becomes and is higher than actual speed n.
That is to say,, make switch contact 27 be transformed into ON position (different) with state shown in Figure 10 if actual speed n＜predetermined speed＜velocity estimation value provides the switch of relay to export from comparator 23.
Subsequently, the negative input end of the 3rd deviation unit 18 receives predetermined speed value successively to substitute the estimating speed value.
Figure 12 represents the situation in above-mentioned the 3rd deviation unit 18.
In Figure 12, solid line is represented velocity estimation value curve, and dotted line is represented predetermined speed curve, the curve when chain-dotted line represents that the prediction of speed value is modified.
Therefore, although when beginning motor drive according to velocity estimation value curve, when the velocity estimation value is higher than predetermined speed value (at time t
1And t
2The place), motor but is according to the represented speed drive of chain-dotted line among Figure 12.So the starting of motor is more steady.
As shown in figure 12, since counter 25 according to speed sense cycle T
PAnd reset, so the speed of motor is little by little accelerated.
(the 5th preferred embodiment)
Figure 13 represents the 5th preferred embodiment according to zero velocity observer of the present invention.
As can be seen, in this 5th preferred embodiment, the entire circuit block diagram flow process of zero velocity observer is roughly corresponding with Fig. 6 of first preferred embodiment.
But, be that in Figure 13, the part shown in the code name 13 is different among average processing unit 100 and Fig. 6, and has a variable gain unit 101 to be set between first deviation unit 14 and the observer gain unit 16 with the difference of Fig. 6.
So, below average processing unit 100 is described earlier.
Utilizing the minmal sequence load torque to estimate that the speed estimation method of observer is, when pulse coder is derived output signal, just can detect velocity information, this velocity information is the speed average n between the pulse coder output signal
M
Therefore, the output estimated value of observer model
(i) also can be used for deriving its mean value in time between the pulse coder output signal
(j), and according to
(j) and
(j) difference between estimates the load torque estimated value
(j).
In the extremely low speed scope, pulse spacing T shown in Figure 4
P(j) elongated, speed control periodicity n(j) (control cycle or frequency are repetitions) change is big.Therefore, between i and j regularly in the time of (for example Td) deviation be mirror image to the influence of mean value, thereby make this model export estimated value
(i) mean value
(j) can be near aforementioned formula (5).
But, when speed compare with above-mentioned extremely low speed scope become improved after, the pulse spacing T of encoder output
P(j) be shortened control cycle n(j) repetition period be lowered.In this case, just be necessary to consider the timing offset between i and the j, so that obtain this model output estimated value
(i) correct average value
(j).
Figure 15 has represented to be used to produce this mean value
The explanatory diagram of method (j).
It should be noted that for ease of purpose of explanation, will only illustrate j and (j+1) between time.
Should also be noted that as can be from understanding Figure 15 this mean value
(j) be to derive from the mean value of each speed control in the cycle, its regional summation is divided by the time.
At first, from the time (j, o) to (j, mean value n) is derived by following formula:
In equation (7),
(j is o) to (j, model output estimated value n) to represent number;
Represent this mean value.
In the deviation fixed time interval, the deviation fixed time interval (T between encoder pulse signal j and the speed control cycle i
S-△ T
Ej-1) and △ T
EjInterior mean value is derived.
The following describes T
EjBetween the derivation of mean value.
As shown in figure 14, till the encoder pulse signal is received during in the time (j+1), the torque estimated value that when time j, estimates
(j) be used to estimation model output estimated value
(i).
Therefore, the mean value in the time of can obtaining the time (j+1) by following formula
:
But, as can be seen, according at (j, the torque desired value τ in the time of n)
M*jn, △ T
EjBetween mean value
Can obtain by following formula (9):
Next, mean value
Obtain following.That is to say, when encoder pulse is imported into average processing unit 100, at the torque estimated value τ of time (j+1)
L(j+1)Just obtained.
Mean value
Obtain by the expressed equation of following formula (10):
As mentioned above, when encoder pulse (j+1) when being transfused to, the calculating (as shown in Figure 5) that the cell mesh that is removed by i carries out can be carried out in the speed control cycle.But, should be noted that the coefficient T of model integration time constant
S/ T
M*Need to use △ T
Ej/ T
M*Replace.
In addition, the calculating carried out of the cell mesh that is removed by i shown in Fig. 5 can next step the speed control cycle that will carry out carries out afterwards in the time (i+1).At this moment, model integration time constant T
S/ T
M*Need with (T
S-△ T
Ej)/T
M*Replace.
With reference to Figure 16, (T
S-△ T
Ej-1) between mean value
(T
S-△ T
Ej-1) can
As mentioned above, T
P(j+1)Between model output estimated value
(i) mean value
(j+1)Can obtain from following formula (14):
Subsequently, when adopting equation (14), can compensation speed control cycle signal i and speed sense cycle signal j between time deviation, and then observer model output mean value
(j) can obtain accurate Calculation.
Next, with the improvement of describing the observer gain.
If during having considered the speed control cycle, obtain under the state of encoder pulse, observer gain shown in Figure 5 is set to a higher value when eliminating disturbance, at extremely low speed scope inner encoder pulse spacing T as the aforementioned
P(j) be extended under a kind of like this condition, it is unstable that speed control system will become.So, since when having considered lower speed range observer gain g can not be set to again too high, so the effect of disturbance suppression will be lowered in high speed range.
In order to overcome above-mentioned defective, observer gain g should be variable.Supposing derives in the cycle under the state of encoder pulse in speed control, and observer gains and represents with g, because velocity interval is within a lower speed range, and when speed control does not have encoder pulse to derive in the cycle, variable gain K
CObtain by following formula (15):
K
C＝T
S/｛T
S-△TE
j-1）+n·T
S+△TE
j｝ （15）
Equation (15) has been represented the coded pulse interval T
P(j+1) and the speed control period T
SBetween ratio, during the speed step-down, the observation also step-down that gains.
So as can be seen, if the roughly negligible words of the deviation of time between i and the j characterize observer gain K
CEquation (16) be:
K
C＝1/n （16）
Refer again to Figure 13, numbering 100 expression average processing units, it is the improvement to second counting unit 13 among Fig. 6.Average processing unit 100 calculation equation (14).Be applied to the positive input terminal of first deviation unit 14 from the average output of average processing unit 100, its negative input end receives the mean value that detects output from pulse coder 15 detected speed
(j).
The volume difference output of first deviation unit 14 is added to variable gain (K
C) on the unit 101, to carry out equation (15).When the speed step-down, gain also reduces, and makes the observer gain be added on the observation gain unit 16 from variable gain unit 101.Then, the identical operations of the execution and first preferred embodiment.
According to the present invention, owing to becoming greater than the speed control cycle at interval at encoder pulse and utilizing the rotational pulse encoder in the extremely low speed scope, no longer can obtain under the situation of precise information as the speed control system of speed detector, estimating speed becomes possibility, so utilize fast response characteristic can stably be implemented in the interior speed control of utmost point low-speed range.Owing to adopted the minmal sequence observer that is used for the load estimation and adopted an independent adder, the factor that needs to adjust tails off (for example, only being that observation gains and the prototype time constant), thereby can access a kind of easy adjustment.
Because adopted the lower low-cost rotational pulse encoder of resolution, so the manufacturing cost of speed control system just can reduce.
In addition, even owing to also can obtain accurate average speed when an original position error in encoder, occurring, so motor can starting and driving in the scope of extremely low speed with being stabilized.
And, but owing to eliminated perceptual equilibrium state between velocity estimation value and the velocity estimation value, so the fixedly rising of actual speed, during the electric motor starting in the extremely low speed scope, can realize steady speed control.
Can also make above-mentioned various designs in addition according to the present invention.
The person skilled in the art is appreciated that fully, at preferred embodiment described above, is not leaving under the situation of the scope of the invention that limits as appended claims, can make variations and modifications.
Claims (22)
1, a kind of system that is used to control motor speed comprises:
A) motor;
B) speed detector of installing around motor rotation axis in order to detect rotating speed of motor, produces and exports a series of pulses according to detected rotating speed; And
C) motor speed is estimated observer, it adopts the minmal sequence disturbance observer of a load estimated value, this minmal sequence disturbance observer is converted to the discrete system model of a speed control periodic system and speed sense cycle system, and described motor speed estimates that observer is used for being provided a pulse spacing inner estimating motor speed of pulse by speed detector.
2, motor speed control system as claimed in claim 1, wherein said motor speed estimate that observer comprises:
One first computing unit, it receives the departure between a torque desired value and the load torque estimated value, and with an observer model machine time constant integration, obtains the output estimated value of this molded motor speed;
One second computing unit provides the mean value during each pulse spacing in this observer model output estimated value that it draws from first computing unit, the pulse spacing is provided by speed detector;
One first deviation unit, it calculates the departure between output mean value that is provided by second computing unit and the average speed value that obtains when producing any one pulse that is provided by speed detector;
An observer gain unit, it multiply by the deviate that is derived by first deviation unit with the observer gain, obtains the load torque estimated value;
One second deviation unit, it provides the difference between the deviate of the model estimate value of first computing unit and first deviation unit;
A velocity-variation amplifier, it receives from the deviate of second deviation unit and the deviate between the speed setting value, and predetermined gain is amplified this deviate; And
A first adder, the load torque estimated value addition that it provides the output and the observer gain unit of velocity-variation amplifier.
3, motor speed control system as claimed in claim 2, it further comprises:
One the 3rd deviation unit, the torque desired value (τ when it is given in current control cycle (i)
M*And the load torque estimated value (τ that when the current detection device pulse period (j), provides (i)) from the observer gain unit
L(j)), and wherein said first computing unit comprises: a divider, with control cycle Ts divided by model time constant T
M*, obtain Ts/T
M*; An integrator, quadraturing obtains Zi
-1; And a second adder, it provides the estimated value n of this motor speed with the output valve of this divider and the output integrated value addition of this integrator
M' (i).
4, motor speed control system as claimed in claim 3, wherein said second computing unit calculates according to following formula: n
M' (j)=(∑ n
M' (i)) j/n(j).
5, motor speed control system as claimed in claim 4, the following calculating of wherein said first deviation unit: n
M' (j)-n
M(j), and this deviate be added to the negative input end of second deviation unit and the input of observer gain unit.
6, motor speed control system as claimed in claim 4, wherein said second deviation unit calculates according to following formula:
n
M（i）＝n
M′（i）-n
M′（j）+n
M（j）;
And the deviate of wherein said second deviation unit puts on the negative input end of one the 4th deviation unit as the feedback signal of a tested velocity amplitude, and the 4th deviation unit is at speed setting value (n
M* (i)) and from the deviate n of second deviation unit
M(i) produce deviate between.
7, motor speed control system as claimed in claim 6, wherein said velocity-variation amplifier amplifies the deviate of the 4th deviation unit with predetermined gain Kwc, and the output after will amplifying is added on the described first adder.
8, motor speed control system as claimed in claim 7, wherein said first adder is from the amplification of velocity-variation amplifier output and estimation load torque values τ from the 3rd deviation unit
L(j) in the addition result, draw torque desired value τ
M* (i).
9, motor speed control system as claimed in claim 8, it further comprises one the 5th deviation unit, it is at load torque τ
LWith load torque desired value τ
M* produce deviate between, and this deviation output valve is put on the motor.
10, motor speed control system as claimed in claim 9, wherein said speed detector are a rotational pulse encoder, and the mean value of motor speed calculates according to following formula:
n
M＝60/pp·1/T
p
Wherein pp represents the umber of pulse in the moving circle of pulse coder revolution, T
pExpression is from the pulse period that pulse coder produces, n
MThe mean value of then representing motor speed.
11, motor speed control system as claimed in claim 10, it further comprises one the 3rd computing unit, the average speed value that draws according to the output pulse of this speed detector when average speed value that it draws second computing unit and speed detector produce any one pulse compares, and will be offered the positive input terminal and the negative input end of the unit of first deviation by the average speed value that second computing unit draws.
12, motor speed control system as claimed in claim 11, wherein said the 3rd computing unit comprises: a comparator, the average estimating speed value n that it will be drawn by second computing unit
M' (j) first pulse input n
M' (1) is with the average speed value n that derives according to pulse coder output pulse
M(j) first pulse input n in
M(1) compares, and work as n
M' (1)＜n
M(1) predetermined binary digit of output the time; A pulse checker, the pulse that its monitoring provides from pulse coder, and only export this first pulse n
M(1); One and circuit (AND), it gets the predetermined binary digit output and the n of comparator
M(1) logical AND (AND); And a relay contact, its response is from the logical AND signal of this AND circuit, with the output estimating speed value signal n of second computing unit
M' (j) be connected to the negative input end of first deviation unit.
13, motor speed control system as claimed in claim 10, it further comprises, one the 3rd computing unit, when it judges whether in motor speed drops to predetermined zero velocity scope, in a predetermined period of time, there is not pulse from pulse coder, to produce, and during in motor speed drops to predetermined zero velocity scope, when in a scheduled time, determining not have pulse to result from pulse coder, judge that according to the mean value of deriving from the pulse of pulse coder be zero, so that the mean value n that the output of first deviation unit draws from second computing unit
M' (j).
14, motor speed control system as claimed in claim 13, wherein said the 3rd computing unit comprises: another integrator, it is to exporting the mean value n that pulse draws according to pulse coder
MN(j) carry out integration, obtain integration output n
MN-1; One first comparator, it is with this integration output n
MN-1 with respect to a reference value n of predetermined period of time
MZ* compare, work as n
MN-1＜n
MZ* the time, export a predetermined binary number; A counter, it calculates the pulse reference clock number of indication control cycle (i), when an indication is exported the mean value n that pulse draws according to pulse coder
MWhen pulse n(j) was risen, this counter was by set again; One second comparator, it is with the counting output n of counter
cWith zero velocity count value n
zCompare, work as n
z＜n
cThe time, the predetermined binary digit of output; One or circuit OR, it is being used to make the rising pulse of counter reset and be somebody's turn to do between the predetermined binary number to carry out logic OR (OR); One with circuit AND, it is respectively from carrying out logical AND (AND) between the predetermined binary digit of first and second comparators; And a relay contact, the output AND signal of its response AND circuit will be indicated n
MThe negative input end of=0 end points first deviation unit is connected.
15, motor speed control system as claimed in claim 14, the reference value n of wherein said first comparator
MZ* indication drops to the motor speed mean value of 1/2000 zero velocity scope of motor normal speed.
16, motor speed control system as claimed in claim 15, wherein said zero velocity count value n
zRepresent such count value of counter, promptly when motor speed be designated as rated motor speed 1/2000 the time, the four times long of pulse period that the indication of this count value obtains than pulse coder.
17, motor speed control system as claimed in claim 10, it further comprises: predetermined speed computing unit, it calculates the prediction motor speed in each control cycle, in train pulse one shows till the average speed value of the motor speed that pulse coder provides; A comparator, its receives from the prediction motor speed value of predetermined speed computing unit with from the velocity estimation value of second deviation unit, when during greater than this predetermined speed value, exporting a predetermined ON signal from the estimated value of second deviation unit; When the estimated value from second deviation unit is less than or equal to predetermined speed value, export a predetermined OFF signal; A switch contact, its response is from the ON signal of this comparator, the negative input end of deviation unit is connected to predetermined speed computing unit, and response is from the OFF signal of comparator, the negative input end of the 4th deviation unit is connected on the velocity estimation value of second deviation unit.
18, motor speed control system as claimed in claim 17, wherein said predetermined speed computing unit calculates predetermined speed value n(i according to following formula):
n（i）＝60/pp·1/i·Ts〔rpm〕
Wherein pp represents the umber of pulse of the moving circle pulse coder of revolution, and Ts represents control cycle.
19, the following equation computation model output estimated value n that motor speed control system as claimed in claim 3, wherein said computing unit utilization are set up between time j and j+1
M' (i) mean value n
M' (j):
Ts represents the speed control cycle, and △ TEj represents j and (j-1, n) time difference between.
20, motor speed control system as claimed in claim 19, wherein said observer gain unit comprises a variable gain unit, it changes observer gain Kc according to detection speed according to following formula:
21, motor speed control system as claimed in claim 19, wherein said observer gain unit comprises a variable gain unit, it changes observer gain Kc according to detection speed according to following formula:
Kc＝1/n
22, a kind of system at extremely low speed scope inner control motor speed, has a rotational pulse encoder, when electric machine rotational axis turns over a predetermined angular, it just exports a pulse, this extremely low speed scope that is defined makes the pulse spacing of output pulse be longer than the speed control cycle of system, and this system comprises:
Minmal sequence disturbance, load torque estimated value observer, described observer comprises:
One first computing unit, it calculates motor speed in the motor model according to torque desired value and load torque estimated value
Estimated value;
One second computing unit, it calculates each pulse spacing according to following formula
(j) the motor speed mean value under:
I representation speed control cycle wherein, j represents the pulse spacing of pulse coder;
One first deviation unit, it obtains the motor speed mean value that second computing unit draws
(j) and the motor speed mean value that draws according to the pulse of pulse coder
(j) deviate between;
One second deviation unit, it obtains the output valve of first deviation unit
(i) and the difference of first deviation unit output
(j)-
(j) deviate between is to draw
(i) value;
A proportional gain observer, its output is from the estimation load torque values of the deviation output of first deviation unit
(j); And
One the 3rd deviation unit, it obtains load torque signal τ
M* (i) and from the load estimated value of this proportional gain observer
(j) difference between.
23, a kind of method of in utmost point low-speed range, utilizing a rotational pulse encoder and minmal sequence disturbance, load torque estimated value observer control motor speed, wherein, when electric machine rotational axis turns over a predetermined angular, this rotational pulse encoder is just exported a pulse, utmost point low-speed range is defined as exporting the pulse spacing and is longer than the speed control cycle, and this method may further comprise the steps:
A) calculate the estimated value of the motor speed of motor model according to torque desired value and load torque estimated value
;
B) in each pulse spacing, be calculated as follows the mean value of motor speed
:
I representation speed control cycle wherein, j represents the pulse spacing of pulse coder;
C) provide a motor speed mean value that draws in step b)
(j) and the motor speed mean value that draws according to the pulse of pulse coder
(j) the first deviation output valve between;
D) provide an output valve that draws in step a)
And the output of the deviation between the deviation output valve of step c), thereby obtain
Second deviation output of value;
E) output is from the estimation load torque values τ of first deviation output of step c)
L(j); And
F) provide a load torque desired value τ
M*(i) and the load estimated value that draws in step e)
(j) the 3rd deviation output between.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP114229/91 | 1991-05-20 | ||
| JP3114229A JPH06237589A (en) | 1991-05-20 | 1991-05-20 | Speed controller of motor |
| JP200314/91 | 1991-08-09 | ||
| JP305791/91 | 1991-11-21 | ||
| JP11558692A JP3196311B2 (en) | 1991-05-20 | 1992-05-08 | Motor speed estimation observer |
| JP115586/92 | 1992-05-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1067341A true CN1067341A (en) | 1992-12-23 |
| CN1026937C CN1026937C (en) | 1994-12-07 |
Family
ID=26453032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN92103246A Expired - Fee Related CN1026937C (en) | 1991-05-20 | 1992-05-20 | System and method for controlling speed of electric motor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3196311B2 (en) |
| CN (1) | CN1026937C (en) |
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| CN1300590C (en) * | 2004-05-18 | 2007-02-14 | 桂林星辰电力电子有限公司 | Method for measuring motor speed at low-speed operation by using pulse coder |
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-
1992
- 1992-05-08 JP JP11558692A patent/JP3196311B2/en not_active Expired - Lifetime
- 1992-05-20 CN CN92103246A patent/CN1026937C/en not_active Expired - Fee Related
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| CN1300590C (en) * | 2004-05-18 | 2007-02-14 | 桂林星辰电力电子有限公司 | Method for measuring motor speed at low-speed operation by using pulse coder |
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| CN101714843B (en) * | 2008-09-30 | 2013-11-06 | Juki株式会社 | A portal frame type xy positioning apparatus |
| CN102741768A (en) * | 2010-02-09 | 2012-10-17 | 罗伯特·博世有限公司 | Method for predicting the duration of a future time interval |
| US9184679B2 (en) | 2010-02-09 | 2015-11-10 | Robert Bosch Gmbh | Method for predicting the duration of a future time interval |
| CN102109855A (en) * | 2010-12-21 | 2011-06-29 | 天津市亚安科技电子有限公司 | Method and system for adjusting motor speed curve of holder |
| CN102109855B (en) * | 2010-12-21 | 2013-11-20 | 天津市亚安科技股份有限公司 | Method and system for adjusting motor speed curve of holder |
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| CN109960195A (en) * | 2017-12-22 | 2019-07-02 | 通力股份公司 | For safeguarding the method, software program and controller of transporting equipment |
| CN109960195B (en) * | 2017-12-22 | 2024-07-16 | 通力股份公司 | Method, software program and controller for maintaining a transport device |
| CN113064068B (en) * | 2018-12-06 | 2022-05-17 | 浙江大学台州研究院 | Angle and torque measurement system for high-voltage large-current brake equipment |
| CN113064069A (en) * | 2018-12-06 | 2021-07-02 | 浙江大学台州研究院 | Angle and torque measuring device for high-current brake equipment |
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| CN113064070B (en) * | 2018-12-06 | 2022-05-17 | 浙江大学台州研究院 | Angle and torque measuring device for high-voltage large-current brake equipment |
| CN113064071B (en) * | 2018-12-06 | 2022-05-17 | 浙江大学台州研究院 | Angle and torque measurement system for high-current brake equipment |
| CN111240374B (en) * | 2019-12-27 | 2023-10-31 | 深圳市合信自动化技术有限公司 | Method for detecting micro speed |
| CN111240374A (en) * | 2019-12-27 | 2020-06-05 | 深圳市合信自动化技术有限公司 | Method for detecting micro speed |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3196311B2 (en) | 2001-08-06 |
| JPH06284762A (en) | 1994-10-07 |
| CN1026937C (en) | 1994-12-07 |
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