CN107370431A - A kind of industrial robot obscures Auto-disturbance-rejection Control with permagnetic synchronous motor - Google Patents
A kind of industrial robot obscures Auto-disturbance-rejection Control with permagnetic synchronous motor Download PDFInfo
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- CN107370431A CN107370431A CN201710653006.2A CN201710653006A CN107370431A CN 107370431 A CN107370431 A CN 107370431A CN 201710653006 A CN201710653006 A CN 201710653006A CN 107370431 A CN107370431 A CN 107370431A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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Abstract
The invention discloses a kind of industrial robot to obscure Auto-disturbance-rejection Control with permagnetic synchronous motor, the rotor-position signal of present invention collection motor servo system, then the feedback signal using rotor-position signal as fuzzy automatic disturbance rejection controller, with fuzzy inference rule, establish fuzzy if-then rules table, by to parameter automatically adjust and compensation to system disturbance, realize the high-precision control to motor servo system.The present invention uses the PI adjusting methods that conventional vector control is substituted based on fuzzy Auto-disturbance-rejection Control, improves the rapidity and stability of industrial robot PMSM Drive System, improves the precision and Ability of Resisting Disturbance of system.
Description
Technical field
The invention belongs to industrial robot servomotor design field, more particularly to a kind of industrial robot permanent magnetism
Synchronous motor obscures Auto-disturbance-rejection Control.
Background technology
In recent years, with the continuous propulsion of the strategy of made in China 2025, during China's manufacturing industry transition and upgrade, machine
The phenomenon of substitution is more and more fiery, and the application of industrial robot is also more and more extensive, and industrial robot servo-drive system performance at present
It is poor dynamic response capability to be present in aspect, most of only to possess analog quantity and pulse control mode, it is impossible to meet high-speed, high precision
The requirement of robot, therefore, design a industrial robot AC servo drive system and be very important.
Permagnetic synchronous motor has the characteristics that simple in construction, reliable, the small, efficiency high of loss, but industrial machine is artificial
Make that environment is complicated and changeable, it is higher to the performance requirement of motor system, it is traditional to be met based on PI vector control methods
The high performance requirement of industrial robot motor, therefore can be led using some advanced control strategies to apply in industrial robot
Domain.
Control strategy based on fuzzy Active Disturbance Rejection Control strong robustness, can be easy to engineer applied independent of object model,
Compensation ability of the system for disturbance is improved, while can also improve the response speed and control accuracy of system.
The content of the invention
The present invention is in order to solve the deficiencies in the prior art, it is proposed that a kind of industrial robot with permagnetic synchronous motor it is fuzzy from
Disturbance rejection control method.
A kind of industrial robot obscures Auto-disturbance-rejection Control with permagnetic synchronous motor, and this method specifically includes following step
Suddenly：
Step 1：Driving control system for electric machine hardware initialization；
Step 2：Serial communication modular judges whether to receive host computer instruction, step 4 is entered if receiving, is not received
Then enter step 3；
Step 3：The motor speed of industrial robot is set as default value 0, into step 4；
Step 4：The rotating speed that motor is adjusted out by obscuring automatic disturbance rejection controller controls output；
Step 5：Judge that the final control of motor is exported whether in rated range, step is entered if in rated range
Rapid six, if not in rated range, into step 7；
Step 6：Final control output is sent to the motor of industrial robot, into step 8；
Step 7：Motor is discharged, into step 8；
Step 8：Serial communication modular sends response signal to host computer, into step 2；
Active Disturbance Rejection Control is obscured wherein in step 4, specifically includes following steps：
4.1st, in permagnetic synchronous motor running, by velocity location detect to obtain permagnetic synchronous motor rotating speed and
Position angle, position angle is input in coordinate transformation module, obtained permagnetic synchronous motor tachometer value and given motor are turned
Fast value is input in fuzzy active disturbance rejection speed ring controller, and q shaft current reference values i is obtained by computingq *；Wherein fuzzy active disturbance rejection
The design of controller is as follows：
Permagnetic synchronous motor mathematical modeling is expressed as in the fuzzy automatic disturbance rejection controller：
In formula：ud、uqRespectively d, q shaft voltage；id、iqRespectively d, q shaft current；Ld、LqRespectively d, q axle inductance；Rs
For stator resistance；ωeFor rotor angular rate；ψfFor rotor permanent magnet magnetic linkage；
Automatic disturbance rejection controller part includes Nonlinear Tracking Differentiator, extended state observer in fuzzy automatic disturbance rejection controller
Fed back with nonlinear state error；
The Nonlinear Tracking Differentiator mathematical modeling is expressed as：
The extended state observer mathematical modeling is expressed as：
The nonlinear state error feedback mathematics model table is shown as：
Fal function expressions are expressed as in the automatic disturbance rejection controller：
In formula：V is the Setting signal of automatic disturbance rejection controller；v1It is v tracking signal；R is the tracking velocity factor；Y is pair
The output of elephant；z1、z2It is the observation of state variable, z3It is disturbance estimate；β01、β02、β03It is output error correcting gain；
Fal (e, α, δ) is optimal synthesis control function；δ is filtering factor；α is nonlinear factor；β1、β2For Error Gain；
Fuzzy controller is to be by the velocity deviation e and deviation variation rate ec of system in the fuzzy automatic disturbance rejection controller
Input quantity, nonlinearity erron Feedback Control Laws parameter correction values Δ β1、Δβ2For output quantity；Find out e and ec and Δ β1、Δβ2Between
Fuzzy relation, in the process of running constantly detection e and ec, according to fuzzy control principle to Δ β1、Δβ2Carry out online modification,
Meet in the case of different e and ec to parameter, Δ β1、Δβ2Requirement；Fuzzy controller is automatic according to the state of controlled device
Adjust output variable Δ β1、Δβ2Value, and to nonlinearity erron Feedback Control Laws parameter carry out on-line correction；
The fuzzy controller correction function mathematical formulae is：
β in formula1′、β′2For nonlinear feedback state table initial value；
4.2nd, the motor two-phase output current i that current sensor will collectaAnd ibIt is input to for three phase static to two-phase
Third phase electric current is tried to achieve in static coordinate transform, then by coordinate transform, obtains the electric current i under two-phase static coordinateαAnd iβ, then
The coordinate transform rotated by two-phase obtains idAnd iq；
4.3rd, the q shaft current reference values i for obtaining fuzzy automatic disturbance rejection controllerq *With given d shaft current reference values id *Through
Cross conversion and obtain output voltage values udAnd uq；
4.4th, the output voltage values obtained in the 4.3rd are rotated into the static changes in coordinates of two-phase by two-phase and obtains uαWith
uβ；
4.5th, by uαAnd uβSpace vector pulse width modulation SVPWM modules are input to, the six road pwm signals for obtaining controller are defeated
Go out, and inverter is controlled by pwm signal, thus obtain the operation that three-phase output voltage carrys out motor.
Beneficial effects of the present invention：
The present invention improves industry using the PI adjusting methods that conventional vector control is substituted based on fuzzy Auto-disturbance-rejection Control
The rapidity and stability of robot PMSM Drive System, improve the precision and Ability of Resisting Disturbance of system.
1st, the control that Active Disturbance Rejection Control algorithm is used for industrial robot PMSM Drive System is employed, control
Device strong robustness, stability are good.
2nd, in order to adapt to industrial robot high accuracy, fast-response the features such as, by Active Disturbance Rejection Control and the organic knot of fuzzy control
Close, motor is had under the complicated operating mode of industrial robot and more preferably more accurately control.
Brief description of the drawings
Fig. 1 is implementation steps figure of the present invention；
Fig. 2 is that a kind of industrial robot obscures Active Disturbance Rejection Control schematic diagram with permagnetic synchronous motor；
Fig. 3 is the system construction drawing of Auto Disturbances Rejection Control Technique.
Embodiment
The present invention is described in detail as follows in conjunction with accompanying drawing:
A kind of industrial robot obscures Active Disturbance Rejection Control system, including core controller module, electricity with permagnetic synchronous motor
Flow acquisition module and communication module.Core controller module completes the control algolithm of motor, produces pwm signal controlled motor
Driving, current module gather the signal of motor drive module, communication module connection core controller module and host computer.
The core controller module uses the method for controlling permanent magnet synchronous motor based on fuzzy Active Disturbance Rejection Control, adopts first
Collect the rotor-position signal of motor servo system, then the feedback letter using rotor-position signal as fuzzy automatic disturbance rejection controller
Number, with fuzzy inference rule, establish fuzzy if-then rules table, by parameter automatically adjust and benefit to system disturbance
Repay, realize the high-precision control to motor servo system.
The current acquisition module to the electric current of industrial robot motor by sampling, with reference to core controller module
The current of electric of industrial robot is adjusted.
The communication module connects host computer, receives instruction, is debugged.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of industrial robot obscures Auto-disturbance-rejection Control, the party with permagnetic synchronous motor
Method specifically includes following steps：
Step 1：Driving control system for electric machine hardware initialization；
Step 2：Serial communication modular judges whether to receive host computer instruction, step 4 is entered if receiving, is not received
Then enter step 3；
Step 3：The motor speed of industrial robot is set as default value 0, into step 4；
Step 4：The rotating speed that motor is adjusted out by obscuring automatic disturbance rejection controller controls output；
Step 5：Judge that the final control of motor is exported whether in rated range, step is entered if in rated range
Rapid six, if not in rated range, into step 7；
Step 6：Final control output is sent to the motor of industrial robot, into step 8；
Step 7：Motor is discharged, into step 8；
Step 8：Serial communication modular sends response signal to host computer, into step 2；
Active Disturbance Rejection Control is obscured wherein in step 4, specifically includes following steps：
4.1st, in permagnetic synchronous motor running, by velocity location detect to obtain permagnetic synchronous motor rotating speed and
Position angle, position angle is input in coordinate transformation module, obtained permagnetic synchronous motor tachometer value and given motor are turned
Fast value is input in fuzzy active disturbance rejection speed ring controller, and q shaft current reference values i is obtained by computingq *；Wherein fuzzy active disturbance rejection
The design of controller is as follows：
Permagnetic synchronous motor mathematical modeling is expressed as in the fuzzy automatic disturbance rejection controller：
In formula：ud、uqRespectively d, q shaft voltage；id、iqRespectively d, q shaft current；Ld、LqRespectively d, q axle inductance；Rs
For stator resistance；ωeFor rotor angular rate；ψfFor rotor permanent magnet magnetic linkage；
Automatic disturbance rejection controller part includes Nonlinear Tracking Differentiator, extended state observer in fuzzy automatic disturbance rejection controller
Fed back with nonlinear state error；
The Nonlinear Tracking Differentiator mathematical modeling is expressed as：
The extended state observer mathematical modeling is expressed as：
The nonlinear state error feedback mathematics model table is shown as：
Fal function expressions are expressed as in the automatic disturbance rejection controller：
In formula：V is the Setting signal of automatic disturbance rejection controller；v1It is v tracking signal；R is the tracking velocity factor；Y is pair
The output of elephant；z1、z2It is the observation of state variable, z3It is disturbance estimate；β01、β02、β03It is output error correcting gain；
Fal (e, α, δ) is optimal synthesis control function；δ is filtering factor；α is nonlinear factor；β1、β2For Error Gain；
Fuzzy controller is to be by the velocity deviation e and deviation variation rate ec of system in the fuzzy automatic disturbance rejection controller
Input quantity, nonlinearity erron Feedback Control Laws parameter correction values Δ β1、Δβ2For output quantity；Find out e and ec and Δ β1、Δβ2Between
Fuzzy relation, in the process of running constantly detection e and ec, according to fuzzy control principle to Δ β1、Δβ2Carry out online modification,
Meet in the case of different e and ec to parameter, Δ β1、Δβ2Requirement；Fuzzy controller is automatic according to the state of controlled device
Adjust output variable Δ β1、Δβ2Value, and to nonlinearity erron Feedback Control Laws parameter carry out on-line correction；
The fuzzy controller correction function mathematical formulae is：
β in formula1′、β′2For nonlinear feedback state table initial value；
4.2nd, the motor two-phase output current i that current sensor will collectaAnd ibIt is input to for three phase static to two-phase
Third phase electric current is tried to achieve in static coordinate transform, then by coordinate transform, obtains the electric current i under two-phase static coordinateαAnd iβ, then
The coordinate transform rotated by two-phase obtains idAnd iq；
4.3rd, the q shaft current reference values i for obtaining fuzzy automatic disturbance rejection controllerq *With given d shaft current reference values id *Through
Cross conversion and obtain output voltage values udAnd uq；
4.4th, the output voltage values obtained in the 4.3rd are rotated into the static changes in coordinates of two-phase by two-phase and obtains uαWith
uβ；
4.5th, by uαAnd uβSpace vector pulse width modulation SVPWM modules are input to, the six road pwm signals for obtaining controller are defeated
Go out, and inverter is controlled by pwm signal, thus obtain the operation that three-phase output voltage carrys out motor.
Wherein table 1 is the fuzzy reasoning tables of system variable Δ β 1；
Table 1
Wherein table 2 is the fuzzy reasoning tables of system variable Δ β 2
Table 2.
Claims (1)
1. a kind of industrial robot obscures Auto-disturbance-rejection Control with permagnetic synchronous motor, it is characterised in that this method is specifically wrapped
Include following steps：
Step 1：Driving control system for electric machine hardware initialization；
Step 2：Serial communication modular judges whether to receive host computer instruction, step 4 is entered if receiving, does not receive, enters
Enter step 3；
Step 3：The motor speed of industrial robot is set as default value 0, into step 4；
Step 4：The rotating speed that motor is adjusted out by obscuring automatic disturbance rejection controller controls output；
Step 5：Judge that the final control of motor is exported whether in rated range, step 6 entered if in rated range,
If not in rated range, into step 7；
Step 6：Final control output is sent to the motor of industrial robot, into step 8；
Step 7：Motor is discharged, into step 8；
Step 8：Serial communication modular sends response signal to host computer, into step 2；
Active Disturbance Rejection Control is obscured wherein in step 4, specifically includes following steps：
4.1st, in permagnetic synchronous motor running, detect to obtain the rotating speed of permagnetic synchronous motor and position by velocity location
Angle, position angle is input in coordinate transformation module, by obtained permagnetic synchronous motor tachometer value and given motor speed value
It is input in fuzzy active disturbance rejection speed ring controller, q shaft current reference values i is obtained by computingq *；Wherein fuzzy Active Disturbance Rejection Control
The design of device is as follows：
Permagnetic synchronous motor mathematical modeling is expressed as in the fuzzy automatic disturbance rejection controller：
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Resistance；ωeFor rotor angular rate；ψfFor rotor permanent magnet magnetic linkage；
Automatic disturbance rejection controller part includes Nonlinear Tracking Differentiator, extended state observer and non-in fuzzy automatic disturbance rejection controller
Linear condition error is fed back；
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The nonlinear state error feedback mathematics model table is shown as：
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Fal function expressions are expressed as in the automatic disturbance rejection controller：
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In formula：V is the Setting signal of automatic disturbance rejection controller；v1It is v tracking signal；R is the tracking velocity factor；Y is the defeated of object
Go out；z1、z2It is the observation of state variable, z3It is disturbance estimate；β01、β02、β03It is output error correcting gain；fal(e,α,
δ) it is optimal synthesis control function；δ is filtering factor；α is nonlinear factor；β1、β2For Error Gain；
It by the velocity deviation e and deviation variation rate ec of system is input that fuzzy controller, which is, in the fuzzy automatic disturbance rejection controller
Amount, nonlinearity erron Feedback Control Laws parameter correction values Δ β1、Δβ2For output quantity；Find out e and ec and Δ β1、Δβ2Between mould
Paste relation, e and ec is constantly detected in the process of running, according to fuzzy control principle to Δ β1、Δβ2Online modification is carried out, is met
To parameter, Δ β in the case of different e and ec1、Δβ2Requirement；Fuzzy controller is according to the state adjust automatically of controlled device
Output variable Δ β1、Δβ2Value, and to nonlinearity erron Feedback Control Laws parameter carry out on-line correction；
The fuzzy controller correction function mathematical formulae is：
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</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&beta;</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msubsup>
<mi>&beta;</mi>
<mn>2</mn>
<mo>&prime;</mo>
</msubsup>
<mo>+</mo>
<msub>
<mi>&Delta;&beta;</mi>
<mn>2</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
β in formula1′、β′2For nonlinear feedback state table initial value；
4.2nd, the motor two-phase output current i that current sensor will collectaAnd ibIt is input to static to two-phase for three phase static
Coordinate transform try to achieve third phase electric current, then by coordinate transform, obtain the electric current i under two-phase static coordinateαAnd iβ, then pass through
The coordinate transform of two-phase rotation obtains idAnd iq；
4.3rd, the q shaft current reference values i for obtaining fuzzy automatic disturbance rejection controllerq *With given d shaft current reference values id *By becoming
Get output voltage values u in returndAnd uq；
4.4th, the output voltage values obtained in the 4.3rd are rotated into the static changes in coordinates of two-phase by two-phase and obtains uαAnd uβ；
4.5th, by uαAnd uβSpace vector pulse width modulation SVPWM modules are input to, obtain six road pwm signal outputs of controller, and
Inverter is controlled by pwm signal, thus obtains the operation that three-phase output voltage carrys out motor.
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