CN110768607B - Motor control method, device, equipment terminal and readable storage medium - Google Patents
Motor control method, device, equipment terminal and readable storage medium Download PDFInfo
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- CN110768607B CN110768607B CN201911188094.9A CN201911188094A CN110768607B CN 110768607 B CN110768607 B CN 110768607B CN 201911188094 A CN201911188094 A CN 201911188094A CN 110768607 B CN110768607 B CN 110768607B
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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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Abstract
The invention relates to a motor control method, a motor control device, an equipment terminal and a readable storage medium, wherein the motor control method comprises the steps of obtaining actual corner output data of a motor in a preset angle range, performing function regression on the actual corner output data according to preset expected response data to determine a global calibration function, and performing global calibration processing in a nonlinear dynamic inverse mode on motor input signals according to the global calibration function, so that the high-precision motor control effect can be realized under the condition of not replacing a motor servo system, and the cost of transforming a common AGV trolley is reduced.
Description
Technical Field
The present invention relates to the field of motor control, and in particular, to a motor control method, apparatus, device terminal, and readable storage medium.
Background
With the continuous advance of the industrial 4.0 progress, the industrial automation has become an important trend of the current manufacturing transformation, and the AGV (Automated Guided Vehicle, abbreviated as AGV) is an important technology and means for realizing the industrial automation.
When a common manual vehicle is modified, in order to realize millimeter-level high-precision position control of the AGV in the working process, high requirements are generally placed on the precision of a vehicle driving system (such as a steering servo motor and a walking servo motor). However, in a common manual vehicle, especially a single steering wheel vehicle, the control accuracy of the servo system of the steering motor does not meet the set requirement, and usually AGV reconstruction is required, however, when AGV reconstruction is performed, the servo system of the steering motor needs to be replaced by a servo system with higher accuracy, which is often higher in cost.
Disclosure of Invention
In view of this, the invention provides a motor control method, a device, an equipment terminal and a readable storage medium, which can perform global calibration processing on a steering motor by using a nonlinear dynamic inverse processing method on the basis of not modifying a motor driving system, thereby realizing a high-precision control effect of the motor on the basis of not increasing economic cost.
A motor control method, comprising:
acquiring actual rotation angle output data of the motor within a preset angle range;
performing function regression on the actual corner output data according to preset expected response data to determine a global calibration function;
and carrying out global calibration processing in a nonlinear dynamic inverse mode on the motor input signal according to the global calibration function.
In one embodiment, the step of performing a function regression on the actual corner output data according to the preset expected response data to determine the global calibration function includes:
and performing function regression on the actual corner output data by taking the actual corner output data as function input and preset expected response data as output so as to determine a global calibration function.
In one embodiment, the motor control method further comprises:
and sending the processed motor input signal to a motor control system to realize the control of the motor.
In one embodiment, the global calibration function is a fifth order polynomial function:
L-1(g(s)-1)＝a5x5+a4x4+a3x3+a2x3+a1x+a0 (1)
wherein, g(s) in the formula (1)-1Representing a global calibration function, L-1Denotes an inverse Laplace transform, a0、a1、a2、a3、a4And a5Respectively representing coefficients corresponding to the respective secondary terms.
In one embodiment, the coefficient corresponding to each time term in formula (1) is determined by using an iterative least square method according to the actual rotation angle output data and the preset expected response data.
In addition, there is also provided a motor control device including:
the output data acquisition device is used for acquiring actual rotation angle output data of the motor within a preset angle range;
the function generating device is used for performing function regression on the actual corner output data according to preset expected response data to determine a global calibration function;
and the calibration processing device is used for carrying out global calibration processing in a nonlinear dynamic inverse mode on the motor input signal according to the global calibration function.
In one embodiment, the function generating means is configured to perform a function regression on the actual corner output data with the predetermined expected corresponding data as an output to determine the global calibration function, with the actual corner output data as a function input.
In one embodiment, the motor control apparatus further includes:
and the signal transmitting device is used for transmitting the processed motor input signal to the motor control system so as to realize the control of the motor.
In addition, an apparatus terminal is also provided, which includes a memory for storing a computer program and a processor for operating the computer program to make the apparatus terminal execute the above motor control method.
Furthermore, a readable storage medium is provided, which stores a computer program, which when executed by a processor implements the above-described motor control method.
According to the motor control method, the actual corner output data of the motor in the preset angle range are obtained, the function regression is carried out on the actual corner output data according to the preset expected response data to determine the global calibration function, the global calibration processing in the nonlinear dynamic inverse mode is carried out on the motor input signal according to the global calibration function, the high-precision motor control effect can be achieved under the condition that a motor servo system is not replaced, and the cost of transformation of a common AGV trolley is reduced.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
FIG. 1 is a schematic flow chart of a method for controlling a motor according to one embodiment;
FIG. 2 is a schematic flow chart of a motor control method in another embodiment;
FIG. 3 is a graph of an actual rotational angle output of a motor within a predetermined angular range, obtained before the motor control method of the present invention is applied in one embodiment;
FIG. 4 is a graph illustrating an actual rotational angle output curve of a motor within a predetermined angular range after the motor control method of the present invention is applied in one embodiment;
fig. 5 is a block diagram of a motor control apparatus provided in an embodiment;
fig. 6 is a block diagram of a motor control device provided in another embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Various embodiments of the present disclosure will be described more fully hereinafter. The present disclosure is capable of various embodiments and of modifications and variations therein. However, it should be understood that: there is no intention to limit the various embodiments of the disclosure to the specific embodiments disclosed herein, but rather, the disclosure is to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of the various embodiments of the disclosure.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
As shown in fig. 1, there is provided a motor control method including:
and step S110, acquiring actual rotation angle output data of the motor within a preset angle range.
The common industrial AGV trolley such as a manual single-steering-wheel trolley is limited by a steering wheel installation mechanical structure, a steering motor cannot reach +/-180 degrees, for example, the maximum range of a forklift steering wheel steering motor is +/-80 degrees, so that the steering angle of the motor can be limited, and the actual rotation angle output data of the motor in a preset angle range can be acquired.
The preset angle range is generally the maximum angle range that the actual rotation angle of the motor can reach.
In step S120, a function regression is performed on the actual corner output data according to the preset expected response data to determine a global calibration function.
After the actual steering angle data within the preset angle range of the motor are acquired, the corresponding error difference can be found by comparing the actual steering angle data with preset expected response data, and then the corresponding global calibration function can be determined by performing function regression on the actual corner output data according to the error difference.
In step S130, a global calibration process of a nonlinear dynamic inverse method is performed on the motor input signal according to the global calibration function.
After the global calibration function is obtained, the global calibration function is used as a nonlinear dynamic inverse function of the motor control system, and then the calibration processing of a nonlinear dynamic inverse mode is carried out on the motor input signal.
According to the motor control method, the actual corner output data of the motor in the preset angle range are obtained, the function regression is carried out on the actual corner output data according to the preset expected response data to determine the global calibration function, the global calibration processing in the nonlinear dynamic inverse mode is carried out on the motor input signal according to the global calibration function, the high-precision motor control effect can be achieved under the condition that a motor servo system is not replaced, and the cost of transformation of a common AGV trolley is reduced.
In one embodiment, step S120 includes:
and performing function regression on the actual corner output data by taking the actual corner output data as function input and preset expected response data as output so as to determine a global calibration function.
The collected actual corner output data is directly used as function input, the preset expected response data is used as output, and then function regression is carried out on the actual corner output data, so that a global calibration function can be obtained.
In one embodiment, as shown in fig. 2, the motor control method further includes:
and step S140, sending the processed motor input signal to a motor control system to realize the control of the motor.
The motor control method comprises the steps of taking the global calibration function as a nonlinear dynamic inverse function of a motor control system, further carrying out calibration processing on a motor input signal in a nonlinear dynamic inverse mode to obtain a processed motor input signal, and further sending the processed motor input signal to the motor control system to realize control of a motor.
In one embodiment, the global calibration function is a fifth order polynomial function:
L-1(g(s)-1)＝a5x5+a4x4+a3x3+a2x3+a1x+a0 (1)
wherein, g(s) in the formula (1)-1Representing a global calibration function, L-1Denotes an inverse Laplace transform, a0、a1、a2、a3、a4And a5Respectively representing coefficients corresponding to the respective secondary terms.
In one embodiment, the coefficient corresponding to each time term in formula (1) is determined by using an iterative least square method according to the actual rotation angle output data and the preset expected response data.
Wherein, regarding the above formula (1), it is assumed that there are m groups of collected data, (θ)di,θi) I is 0,1, …, m-1, measured by θiRepresenting the independent variables x, thetadiRepresents the dependent variable L-1(g(s)-1) Further, the mean square error is obtained:
for the equation (2), the minimum value of the equation is solved by adopting an iterative least square method to obtain:
wherein, the matrix a in the formula (3) is a coefficient matrix of the formula equation (2):
in one embodiment, actual rotation angle output data of a steering motor of a forklift steering wheel within ± 80 ° is acquired, before the step of the motor control method is not adopted, a real-time rotation angle output curve of the motor is shown in fig. 3, an ordinate of a dotted line in fig. 3 represents the real rotation angle output of the steering motor acquired in real time, an ordinate of a solid line in fig. 3 represents a corresponding preset expected response, and abscissas of the solid line and the dotted line in fig. 3 are both time, and a significant difference exists between the two in seconds (S).
The iterative least square method is adopted to determine the corresponding coefficient of each time term in the formula (1) as the following table 1:
| coefficient term | Coefficient value of |
| a0 | 0.000000023235252 |
| a1 | 0.000000131697359 |
| a2 | -0.000236018762031 |
| a3 | -0.000960084094442 |
| a4 | 1.702187702624429 |
| a5 | 7.327295943568571 |
TABLE 1
In the present embodiment, L is determined from Table 1 using the motor control method described above-1(g(s)-1) Then, the global calibration function is used for carrying out global calibration processing in a nonlinear dynamic inverse mode on the motor input signal to obtain the actual rotation corresponding to the steering motor after the motor control method is adoptedAn angle output curve, where the output result is shown in fig. 4, where a vertical coordinate of a dotted line in fig. 4 represents an actual angle output of the steering motor acquired in real time, a vertical coordinate of a solid line in fig. 4 represents a corresponding preset expected response, horizontal coordinates of the solid line and the dotted line in fig. 4 are both time, and the time is taken in seconds (S) as a unit, at this time, a difference between the actual angle output and the preset expected response is substantially negligible, and the control performance of the steering motor is significantly improved.
Further, as shown in fig. 5, there is also provided a motor control device 200, the motor control device 200 including:
the output data acquisition device 210 is used for acquiring actual rotation angle output data of the motor within a preset angle range;
the function generating device 220 is configured to perform function regression on the actual corner output data according to preset expected response data to determine a global calibration function;
and a calibration processing device 230, configured to perform a global calibration process in a nonlinear dynamic inverse manner on the motor input signal according to a global calibration function.
In one embodiment, the function generating device 220 is configured to perform a function regression on the actual corner output data with the actual corner output data as a function input and the preset expected corresponding data as an output to determine the global calibration function.
In one embodiment, as shown in fig. 6, the motor control device 200 further includes:
and the signal sending device 240 is used for sending the processed motor input signal to the motor control system so as to realize the control of the motor.
In addition, an apparatus terminal is also provided, which includes a memory for storing a computer program and a processor for operating the computer program to make the apparatus terminal execute the above motor control method.
Furthermore, a readable storage medium is provided, which stores a computer program, which when executed by a processor implements the above-described motor control method.
According to the motor control method, the actual corner output data of the motor in the preset angle range are obtained, the function regression is carried out on the actual corner output data according to the preset expected response data to determine the global calibration function, the global calibration processing in the nonlinear dynamic inverse mode is carried out on the motor input signal according to the global calibration function, the high-precision motor control effect can be achieved under the condition that a motor servo system is not replaced, and the cost of transformation of a common AGV trolley is reduced.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (8)
1. A motor control method, characterized by comprising:
acquiring actual rotation angle output data of the motor within a preset angle range;
performing function regression on the actual corner output data according to preset expected response data to determine a global calibration function;
carrying out global calibration processing in a nonlinear dynamic inverse mode on the motor input signal according to the global calibration function;
wherein the step of performing a function regression on the actual corner output data according to preset expected response data to determine a global calibration function comprises:
and performing function regression on the actual corner output data by taking the actual corner output data as function input and preset expected response data as output to determine a global calibration function.
2. The motor control method according to claim 1, further comprising:
and sending the processed motor input signal to a motor control system to realize the control of the motor.
3. The method of claim 1, wherein the global calibration function is a fifth order polynomial function:
L-1(g(s)-1)＝a5x5+a4x4+a3x3+a2x3+a1x+a0 (1)
wherein, g(s) in the formula (1)-1Representing a global calibration function, L-1Denotes an inverse Laplace transform, a0、a1、a2、a3、a4And a5Respectively representing coefficients corresponding to the respective secondary terms.
4. The motor control method according to claim 3, wherein the coefficient corresponding to each time term in the formula (1) is determined by an iterative least square method based on the actual rotation angle output data and preset expected response data.
5. A motor control device, characterized by comprising:
the output data acquisition device is used for acquiring actual rotation angle output data of the motor within a preset angle range;
the function generating device is used for performing function regression on the actual corner output data according to preset expected response data to determine a global calibration function;
the calibration processing device is used for carrying out global calibration processing in a nonlinear dynamic inverse mode on the motor input signal according to the global calibration function;
the function generating device is used for performing function regression on the actual corner output data by taking the actual corner output data as function input and taking preset expected corresponding data as output so as to determine a global calibration function.
6. The motor control apparatus according to claim 5, further comprising:
and the signal transmitting device is used for transmitting the processed motor input signal to a motor control system so as to realize the control of the motor.
7. An appliance terminal comprising a memory for storing a computer program and a processor for executing the computer program to cause the appliance terminal to perform the motor control method of any one of claims 1 to 4.
8. A readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the motor control method of any one of claims 1 to 4.
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