CN110311597B - Control method of centrifugal electric actuator - Google Patents
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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Abstract
The invention discloses a control method of a centrifugal electric actuator, which is characterized in that the control method of four motors on the actuator is a static coordinate system space-time decoupling method, namely, under a static coordinate system, the four motors are defined as an x axis and a y axis in the embodiment of the invention, and the total resultant force F required to be output is decomposed to obtainComponent force F on x-axis and y-axis2、F1The space-time means that the output force of the eccentric mass block on the single side is a function of time and a function of space, and is a sine function; resultant force F generated by 1# and 2# eccentric mass blocks1Resultant force F generated by eccentric mass blocks of 3# and 4#2The method has no coupling relation in space, the eccentric mass blocks on two sides are independently controlled, and the directions of output forces on two sides are respectively controlled, namely
Then the phase position of the output force is controlled, and the requirement that the actuator generates the sinusoidal synthetic force in any direction on a plane can be met. The control method of the multiple motors can be widely applied to the fields of aerospace, modern industrial servo robots, modern medical equipment and the like.
Description
Technical Field
The invention discloses a control method of a centrifugal electric actuator, and belongs to the technical field of multi-motor coordination control.
Background
In the application aspect, the multi-motor control can be widely applied to the fields of aerospace, modern industrial servo robots, modern medical equipment and the like.
In the aspect of single-motor control, many researches on the aspect at home and abroad are already carried out, corresponding control strategies for various motors are mostly very mature, and compared with single-motor control, the control strategy for multi-motor control is still based on single-motor control, but the difficulty is the parameter coupling problem in multi-motor control, so that the invention of a new control strategy for solving the parameter coupling problem of multi-motor is the work which is researched.
In the traditional actuator, a motor drives two eccentric mass blocks, and the two eccentric mass blocks are meshed through a mechanical gear, so that the direction of the resultant force generated by the eccentric mass blocks at two sides is determined and cannot be changed, for example, the resultant force generated in the actuator is a vertical acting force. The force amplitude, frequency and phase of the device can be changed by a control method, but the direction is limited by a mechanical gear, and only force in a single direction can be generated.
In the invention, four eccentric mass blocks of the centrifugal electric actuator are controlled by one motor independently, and transmission gears are saved between the four eccentric mass blocks, thus eliminating mechanical influence and ensuring more flexible control. The phases of the four eccentric mass blocks can be changed randomly according to requirements, and the actuator can generate sinusoidal synthetic force in any direction on a plane by controlling the phases of the four eccentric mass blocks.
Disclosure of Invention
The invention is concerned with this, and provides a control method for a centrifugal electric actuator, in the aspect of four-motor control, two motors on the front and back sides are controlled simultaneously, and then the four motors are further coordinated and controlled, so that different motors can still work at stable rotating speed, and loads of eccentric mass blocks run at constant position difference, therefore, the actuator can output sinusoidal synthetic force with set frequency, phase and force amplitude.
The invention provides a control method of a centrifugal electric actuator, which is characterized in that under a static coordinate system, the control method is defined as an x axis and a y axis in the embodiment of the invention, and the total resultant force F required to be output is decomposed to obtain component forces F on the x axis and the y axis2、F1And further setting parameters of the current loop, the rotating speed loop and the position loop.
In an embodiment of the present invention, it is preferable that the position loop is given by a ramp signal, and includes a frequency given and an initial phase given, and the feedback of the position loop is an average of the positions of the loads carried by the two motors; the phase angle difference ring is given through a step signal, the feedback of the phase angle difference ring is half of the difference value of the load positions carried by the two motors, the output of the phase angle difference ring is used as position compensation to a rotating speed ring, one motor is used for positive compensation, and the other motor is used for negative compensation; the control loop structure of the rear side motor is the same as that of the front side motor.
In an embodiment of the invention, the method for controlling the centrifugal electric actuator is preferably such that the stationary frame is relative to the rotating frame, i.e. the resultant force F of the 1# and 2# eccentric masses1Resultant force F of 3# and 4# eccentric masses in the y-axis direction2Is in the x-axis direction; the space-time means that the output force of the eccentric mass block on one side is a function of time and a function of space and is a sine function. Namely, the amplitude of the output force is coincident with the coordinate axis, and the time is according to the sine rule. The shape is as follows:
resultant force F of 1# and 2# eccentric mass blocks under static coordinate system1Generating resultant force F with 3# and 4# wheels2There is no coupling in space, i.e. the front and back forces are independent of each other.
In an embodiment of the present invention, preferably, in the method for controlling a centrifugal electric actuator, in order to enable the actuator to output a force in any direction, the output force directions of the two front eccentric mass blocks can be adjusted to the y-axis direction, the output force directions of the two rear eccentric mass blocks can be adjusted to the x-axis direction, and then the two forces are combined to obtain the force in any direction. When the phases of the output forces on the two sides are the same or opposite, the direction of the generated resultant is 45 degrees or 135 degrees; when the phases of the output forces on the two sides are not the same or opposite, the profile of the resultant force is an ellipse. The method is characterized in that the eccentric mass blocks at two sides are independently controlled, and the directions of output forces at two sides are respectively controlled, namely
Then the phase position of the output force is controlled, and the following formula of functional relation can be obtained
The control method of the centrifugal electric actuator provided by the invention has the beneficial effects that the sinusoidal synthetic force with the set frequency, phase and force amplitude is generated, the precision is high, and the dynamic response is good.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic diagram of four-motor position coordination control;
FIG. 2 is a block diagram of a method of controlling a centrifugal electric actuator;
FIG. 3 is a profile of output force in a stationary coordinate system;
FIG. 4 is F1And F2A schematic diagram of forces when the phases are the same or opposite;
FIG. 5 is F1And F2A graph of time forces of neither the same nor opposite phases;
FIG. 6 is a schematic diagram of actuator output force;
FIG. 7 is a three-dimensional view of the actuator;
FIG. 8 is a block diagram of an overall hardware design;
the reference numbers in the figures illustrate:
as position assignment, 0 and
given as a result of the phase angle,
the positions of the eccentric mass blocks, I, being respectively dragged by four motorsdc1、Idc2、Idc3、Idc4Are feedback signals of respective motor current loops, I* dc1、I* dc2、I* dc3、I* dc4Respectively, input signals of respective motor current loops, F1Resultant forces generated for 1# and 2# eccentric masses, F2Resultant force F generated for 3# and 4# eccentric masses2And F is the final total output force.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the following drawings of the embodiments of the present invention clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
As shown in fig. 1, the schematic diagram of coordination control of load positions of four motors is shown, a power supply system supplies power for direct current, direct current bus voltage is inverted into alternating current through an inverter and is introduced into a three-phase winding of the motor to supply power to the motor, the four motors are matched in pairs, and the load is driven to operate through a transmission device in the middle, so that the purpose of outputting stable force is achieved.
As shown in figure 2 of the drawings, in which,
as position assignment, 0 and
given as a result of the phase angle,
the positions of the eccentric mass blocks, I, being respectively dragged by four motorsdc1、Idc2、Idc3、Idc4Are feedback signals of respective motor current loops, I* dc1、I* dc2、I* dc3、I* dc4The input signals of the current loops of the respective motors are respectively, for example, the front two motors are controlled, and the current loop, the rotating speed loop, the position loop and the phase angle difference loop are sequentially arranged from inside to outside, wherein the speed loop and the position loop are coupled. The basic control process is as follows: when one eccentric mass block 1# is disturbed by the outside, the position changes, and the current position is detected through the load position
Due to the coupling of the position rings, so
And position of eccentric mass 2#
After taking the average value, feeding the average value back to the input side, comparing the average value with a position given value, and sending the comparison value to a position ring of an M1 motor; position of eccentric Mass 1#
And position of eccentric mass 2#
Half of the difference is sent as a feedback signal to the phase angle difference loop, compared with the phase angle set value, and the compared value is sent to the position loop of the M2 motor, and the output of the position loop is used as the input of the speed loop. Meanwhile, for the M1 motor, the position of the motor rotor is detected, the current rotating speed is calculated and fed back to the input side of the speed loop to obtain a comparison value, and the rotating speed of the M2 motor is introduced because the speed loop is coupled and is used as input to be output I through the speed regulator* dc1The current output by the current loop inverter passes through a current detection output Idc1As feedback and I* dc1Comparing, inputting the comparison value into a current ring, and finally converting the comparison value into control over the current; for the M2 motor, the position of the motor rotor is detected, the current rotating speed is calculated and fed back to the input side of the speed loop to obtain a comparison value, and because the speed loop is coupled, the rotating speed of the M1 motor is introduced and is used as input to be output I through the speed regulator* dc2The current output by the current loop inverter passes through a current detection output Idc2As feedback and I* dc2Comparing, inputting the comparison value into the current loop, and finally converting the comparison value into the control of the current to control the magnitude, the phase and the frequency of the actuating force, so that the double motors achieve new stable balance; for the rear side motor, the control loop principle is the same as for the front side. In order to enable the actuator to output force in any direction, the output force directions of the two eccentric mass blocks on the front side can be adjusted to be in the y-axis direction, the output force directions of the two eccentric mass blocks on the rear side are adjusted to be in the x-axis direction, and the two forces are combined to obtain the force in any direction. When the phases of the output forces on the two sides are the same or opposite, the direction of the generated resultant is 45 degrees or 135 degrees; when the phases of the output forces on the two sides are not the same or opposite, the profile of the resultant force is an ellipse. The method is characterized in that the eccentric mass blocks at two sides are independently controlled, and the directions of output forces at two sides are respectively controlled, namely
By controlling the phase of the output force, the following functional relation can be obtained, namely
As shown in fig. 3, which is a three-view diagram of the mechanical structure of the two-dimensional planar output force actuator, each component is labeled in detail in the figure, and it can be seen from the figure that each eccentric mass block of the actuator is directly driven by one motor, so that a transmission mechanism between the motor and the eccentric mass block is omitted, and the driving is simpler and more convenient. Each motor is provided with a driver which is attached to the inner surface of the end cover of the actuator, so that the electromechanical integration of the actuator is higher.
As shown in fig. 4, the transmission mechanism is omitted, and the output force frequency is the motor speed frequency. The control of the output force of the actuator is the phase control of the synthesis of four eccentric mass blocks dragged by the four motors, wherein two eccentric mass blocks on the same side of the four eccentric mass blocks are opposite in rotation direction, 1# eccentric mass block and 2# eccentric mass block are opposite in rotation direction, and 3# eccentric mass block and 4# eccentric mass block are opposite in rotation direction; the coaxial two eccentric mass blocks have the same rotation direction, as shown in the following figures, the 1# eccentric mass block and the 4# eccentric mass block have the same rotation direction, the 2# eccentric mass block and the 3# eccentric mass block have the same rotation direction, and the resultant force F generated by the 1# eccentric mass block and the 2# eccentric mass block is obtained according to the direction, the frequency, the amplitude and the phase of a given alternating current1Resultant force F generated by 3# and 4# eccentric masses2And finally obtaining the total output force F.
As shown in FIG. 5, the control method is to control the magnitude and direction of the force by controlling the 1# and 2#, 3# and 4# eccentric masses, wherein the direction of the resultant force generated by the 1# and 2# eccentric masses is the y-axis direction and is defined as F1The direction of the resultant force generated by the 3# and 4# eccentric masses is the x-axis direction and is defined as F2. Since the eccentric mass has a constant rotational frequency, F1And F2Should be of uniform size. F is to be1And F2The resultant output force is formed with an output force profile that is square in shape.
When F is shown in FIG. 61And F2Is in the same or opposite phase, the resultant force is in the direction of 45 DEG or 135 DEG and is in the size of
Take 45 ° as an example.
F1(t)＝2dmmω2sin(ωt+φ1)，F2(t)＝2dmmω2sin(ωt+φ2) Get it
Can be synthesized
The direction was along the 45 ° direction, verified.
When F is shown in FIG. 71And F2Will be fixed to the x-axis when the phases of (A) and (B) are neither the same nor opposite2With force F fixed on the y-axis1The synthesis can obtain the output force of straight line symmetry ellipse with 45 degrees or 135 degrees in the coordinate system, and the graph is called Lissajous graph in mathematics and has been verified.
As shown in fig. 8, in order to meet the requirements of high power density and control performance, the system adopts a 4DSP + upper computer architecture, and controls a single motor through a single main control chip. The floating-point DSP control chip TMS320F28335 has high precision, low cost, low power consumption, high peripheral integration level, large data and program memory capacity and quick and accurate A/D conversion. Therefore, the DSP is responsible for interrupt management, AD acquisition, PID operation, SVPWM modulation, loop operation of a current loop and a rotating speed loop and the like in the system, and the upper computer completes coordination control on the four motors. The servo controller receives an eccentric mass block position instruction sent by an upper computer through SCI communication, and finally outputs corresponding PWM signals through making a difference with an eccentric mass block position feedback input signal, and the PWM signals are sent to a power circuit to control four motors to act, so that deflection of a load is controlled.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (2)
1. A method of controlling a centrifugal electric actuator, comprising: the electric actuator comprises four eccentric mass blocks, namely 1# eccentric mass block, 2# eccentric mass block, 3# eccentric mass block and 4# eccentric mass block, wherein the four eccentric mass blocks are directly controlled by a motor independently, and the resultant force F of the 1# eccentric mass block and the 2# eccentric mass block is controlled1In the y-axis direction; controlling the resultant force F of the 3# and 4# eccentric masses2In the x-axis direction; wherein, F1And F2Is a function of both time and space, is a sine function, and has a specific form
F1And F2The resultant force is the final output force of the actuator according to a vector algorithm; by controlling the phases of the four eccentric mass blocks, the actuator can generate sinusoidal resultant force in any direction on a plane.
2. A method of controlling a centrifugal electric actuator as claimed in claim 1, when F is1And F2When the phases of (a) and (b) are the same or opposite, the direction of resultant force is 45 ° or 135 °; when F is present1And F2When the phase of (a) is in other cases, the profile of the resultant force is an ellipse; the above control method pair F1And F2All are independently controlled, and F is firstly controlled respectively1And F2Then the phase of the output force is controlled, so that the sine composite force with the given frequency, phase and force amplitude is output.
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