CN112751517B - Motor control system and method - Google Patents
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- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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Abstract
The invention discloses a motor control system, comprising: the controller, the communication unit, the compensator, the comparator, the execution device, the motor device and the encoder are connected in sequence; the controller is respectively connected with the compensation unit and the encoder through the communication unit; the encoder collects a state signal of the motor device and transmits an actual encoding output signal to the controller through the communication unit; the controller predicts the encoded output signal in a preset time domain based on the actual encoded output signal, calculates a control sequence based on the predicted encoded output signal, and transmits the control sequence to the compensator through the communication unit; the compensator outputs a target control signal to the comparator based on the control sequence; the comparator is used for collecting the reference control signal and the target control signal and outputting the driving signal to the execution device, so that network transmission delay caused by the communication unit is made up, and the stability and the dynamic response speed of the motor control system are improved. The invention also discloses a motor control method, which improves the control precision and stability.
Description
Technical Field
The invention relates to the field of control, in particular to a motor control system and a motor control method.
Background
Along with the rapid development of control technology, the motion control system that precision is high, response speed is fast and can control in batches is popular in industrial application, and the motor as one of power equipment, for example straight line switch reluctance motor is because its simple structure, job stabilization and performance are bold, especially occupies the first of the list. Meanwhile, due to the appearance of a Network Control System (NCS), the industrial Control System is easy to update and expand, and is flexible and reliable. This also allows the NCS to be widely used in the industrial control fields of manufacturing industry, intelligent transportation, aerospace, and the like.
However, due to the existing characteristics of network transmission, the introduction of a communication network into the motor control system may reduce the control accuracy of the system, thereby reducing the performance of the system. Therefore, after introducing the communication network, how to ensure the control accuracy and performance of the motor control system is a problem that needs to be solved urgently at present.
Disclosure of Invention
The invention mainly aims to provide a motor control system and a motor control method, and aims to solve the technical problems of low control precision and low performance of the existing motor control system.
To achieve the above object, the present invention provides a motor control system including: the controller, the communication unit, the compensator, the comparator, the execution device, the motor device and the encoder are connected in sequence; the controller is respectively connected with the compensation unit and the encoder through the communication unit;
the encoder is used for acquiring a state signal of the motor device and transmitting an actual encoding output signal to the controller through the communication unit 20;
the controller is used for predicting and coding an output signal in a preset time domain based on the actual coding output signal, calculating a control sequence based on the predicted and coded output signal, and sending the control sequence to the compensator through the communication unit;
the compensator is used for outputting a target control signal to the comparator based on the control sequence;
the comparator is used for collecting a reference control signal and the target control signal and outputting a driving signal to the executing device so that the executing device controls the motor device according to the driving signal.
Optionally, the executing device includes: the power-electricity function distribution module and the current control loop;
the force-electric function distribution module is used for receiving the driving signal from the comparator and outputting a phase current control signal to the current control loop;
the current control loop is used for outputting a line current signal to the motor device according to the phase current control signal so as to control the motor device.
Optionally, the motor device is a linear switched reluctance motor.
Optionally, the status signal includes a speed and/or a position of the motor, and the executing device controls the speed and/or the position of the motor device according to the driving signal.
Optionally, the compensator determines a target control signal from the control sequence based on a total communication delay, and outputs the target control signal to the comparator, where the total communication delay includes a forward delay between the controller and the compensator and a feedback delay between the controller and the encoder.
Optionally, the total communication delay has a markov characteristic.
Optionally, the range of the preset time domain is determined according to the maximum value of the total communication time delay.
Optionally, the controller calculates a control sequence based on the predictive coding output signal and a preset control gain.
Optionally, the preset control gain is determined by constructing a lyapunov functional and the controller and solving.
In addition, in order to achieve the above object, the present invention further provides a motor control method applied to a motor control system, where the motor control system includes: the controller is connected with the compensation unit and the encoder through the communication unit respectively;
the motor control method includes the steps of:
the encoder acquires a state signal of the motor device and outputs an actual encoding output signal to the controller through the communication unit;
the controller predicts a coded output signal in a preset time domain based on the actual coded output signal, calculates a control sequence based on the predicted coded output signal, and transmits the control sequence to the comparator through the communication unit;
the comparator collects a reference control signal and the target control signal, and outputs a driving signal to the execution device, so that the execution device controls the motor device according to the driving signal.
The technical scheme of the invention provides a motor control system, which comprises: the controller, the communication unit, the compensator, the comparator, the execution device, the motor device and the encoder are connected in sequence; the controller is respectively connected with the compensation unit and the encoder through the communication unit; the encoder is used for acquiring a state signal of the motor device and transmitting an actual encoding output signal to the controller through the communication unit; the controller is used for predicting the coded output signal in a preset time domain based on the actual coded output signal, calculating a control sequence based on the predicted coded output signal, and sending the control sequence to the compensator through the communication unit; the compensator is used for outputting a target control signal to the comparator based on the control sequence; the comparator is used for collecting the reference control signal and the target control signal and outputting the driving signal to the execution device, namely, in the invention, the motor is controlled based on the predictive coding output signal of the controller, thereby making up the network transmission delay caused by the communication unit and improving the precision and the stability of the motor control system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of a motor control system according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motor control system according to a second embodiment of the present invention;
FIGS. 3 to 5 are graphs showing the results of simulation studies of the motor control system;
fig. 6 to 9 are graphs showing test experimental results of the networked linear switched reluctance motor control system.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes a specific implementation scheme of the networked linear switched reluctance motor control system and control method according to the present invention with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic block diagram of a motor control system according to an embodiment of the present invention. The motor control system includes: the controller 10, the communication unit 20, the compensator 30, the comparator 40, the execution device 50, the motor device 60 and the encoder 70 which are connected in sequence; the controller 10 is connected with the compensator 30 and the encoder 70 through the communication unit 20, respectively; thereby forming a closed loop motor control system.
The motor device 60 may be any device capable of converting electric power into motive power, for example, the motor device may be a linear switched reluctance motor, and may be a motor of another form.
The encoder 70 is used for acquiring a status signal x (k) of the motor device 60, and transmitting an actual encoding output signal to the controller 10 through the communication unit 20, that is, the actual encoding output signal is an output signal of the encoder 70. Wherein the status signal of the motor arrangement 60 comprises the speed and/or position of the motor arrangement; that is, the encoder 70 acquires the speed and/or position of the motor device as a status signal, determines an actual encoding output signal according to the status signal, and transmits the actual encoding output signal to the controller 10 through the communication unit 20. In the present embodiment, the encoder 70 is any device capable of collecting a status signal of the motor device and transmitting an actual encoding output signal to the controller 10 through the communication unit 20, and in one example, the encoder 70 is a linear encoder 70.
The communication unit 20 is used to connect the encoder 70 with the controller 10 and the controller 10 with the compensator 30 to realize networked control. The communication unit 20 may be a wired network or a wireless network.
It should be noted that the controller 10 and the encoder 7 are provided0 are connected through the communication unit 20, so there is a time delay, i.e. a feedback time delay, in this embodiment, the feedback time delay is recorded as
Since the controller 10 and the compensator 30 are connected via the communication unit, there is a time delay, i.e. a forward time delay, during transmission, which is denoted as forward time delay in this embodiment
Total communication time delay of motor control system
In this embodiment, the value of the total communication delay is random, and in one example, the total communication delay may be designed to be random and have a markov characteristic. To avoid unreasonable total latency, in one example, one may define
Wherein d is the minimum value of the time delay,
is the maximum delay. d.
Is a preset value, in one example, d is 0 seconds,
it was 3 seconds.
The controller 10 is configured to predict the encoded output signal in a preset time domain based on the actual encoded output signal, calculate a control sequence based on the predicted encoded output signal, and transmit the control sequence to the compensator 30 through the communication unit 20. That is, the predictive-coded output signal is the predicted output signal of the encoder 70.
In the embodiment of the present invention, the actual encoded output signal output by the encoder 70 is denoted as y (k). Due to controlBetween the system 10 and the encoder 70
Thus, the actual encoded output signal received by the controller 10 at time k is substantially
The controller 10 outputs a signal based on the actual code received at the k-th time
The output signal is predictively encoded within a predetermined time domain.
In this embodiment, the output signal of predictive coding is expressed as
The control sequence is recorded as
Wherein t is a preset time domain, and the value of the preset time domain can be flexibly set according to actual needs. For example, it may be 1 second, 2 seconds, 3 seconds, or the like. In some examples, the range of t may be based on a maximum value of latency
It is determined that, for example,
in some embodiments, the controller 10 may predict the encoded output signal in a preset time domain based on Model Predictive Control (MPC).
The compensator 30 is configured to output a target control signal to the comparator 40 based on the control sequence. That is, the compensator 30 receives the control sequence transmitted from the controller 10, selects one control signal from the control sequence as a target control signal, and inputs the selected control signal to the comparator 40.
In some embodiments, the compensator 30 selects the target control signal from the control sequence based on the total communication time delay when selecting the target control signal from the control sequence.
In some embodiments, the value of the total communication delay is random, so that the total communication delay can be randomly determined
Determining a number as the total communication delay, and selecting a target control signal from the control sequence according to the total communication delay, e.g. assuming that the total communication delay is 2, the target control signal is
In some embodiments, the total communication delay is random and has a markov property, so that the compensator 30 can determine the total communication delay based on the transition probability matrix of the markov jump when determining the value of the total communication delay.
The comparator 40 is used for collecting the reference control signal u r (k) And a target control signal u (k) that outputs a drive signal to the actuator 50. In some examples, drive signal = reference control signal u r (k) -a target control signal u (k).
The actuator 50 is configured to receive the driving signal from the comparator 40 and control the motor 60 based on the driving signal. Wherein the speed and/or position of the motor arrangement 60 can be controlled. That is, the actuator 50 controls the speed and/or position of the motor 60 based on the driving signal after receiving the driving signal from the comparator 40.
The motor control system that this embodiment provided includes: the controller, the communication unit, the compensator, the comparator, the execution device, the motor device and the encoder are connected in sequence; the controller is respectively connected with the compensation unit and the encoder through the communication unit; the encoder is used for acquiring a state signal of the motor device and outputting an actual encoding output signal to the controller through the communication unit; the controller is used for predicting the coded output signal in a preset time domain based on the actual coded output signal, calculating a control sequence based on the predicted coded output signal, and sending the control sequence to the compensator through the communication unit; the compensator is used for outputting a target control signal to the comparator based on the control sequence; the comparator is used for collecting the reference control signal and the target control signal and outputting the driving signal to the execution device, namely, in the invention, the control sequence is calculated based on the predictive coding output signal of the controller, and the compensator selects the target control signal from the control sequence to act on the motor, thereby making up the network transmission delay caused by the communication unit and improving the precision and the stability of the motor control system.
Based on the first embodiment, a second embodiment of the motor control system of the invention is proposed. In this embodiment, referring to fig. 2, the executing device 50 includes: including a force-electric function distribution module 51 and a current control loop 52. The force-electric function assignment module 51 is configured to receive the driving signal from the comparator 40 and output a phase current control signal, and the current control loop 52 outputs a line current signal to the motor apparatus 60 according to the phase current control signal to control the speed and/or position of the motor apparatus 60.
In one example, the force-electric function distribution module 51 includes a multi-phase excitation module 511 and a multi-phase force-electric conversion unit 512 (exemplified by 3-phase in fig. 2), the current control loop 52 includes a plurality of amplification units 521 and a plurality of current controllers 522, an output terminal of the multi-phase force-electric conversion unit 512 and an output terminal of the current controllers 522 are respectively connected to an input terminal of the amplification units 521, and an output terminal of the amplification units 521 is connected to an input terminal of the current controllers 522, so as to form the current control loop 52. Wherein the multi-phase excitation module 511 outputs a plurality of phase control signals (e.g. f) according to the driving signals a 、f b 、f c ) The phase control signals are respectively input to the multi-phase power-to-power conversion unit 512, and the multi-phase power-to-power conversion unit 512 generates the phase control signals according to the phase control signals (e.g., according to f) a Generating
According to f b Generating
According to f c Generating
) The amplifying units 521 respectively receive the current control signals of the respective phases and output the current drive signals of the respective phases to the current controllers 522, and the current controllers 522 respectively output the current signals of the respective lines (e.g., i) a 、i b 、i c ) To the motor means 60 to control the position and speed of the motor means 60.
Based on the first embodiment, a second embodiment of the motor control system of the invention is proposed. In this embodiment, the controller 10 may calculate the control sequence based on the predictive coding output signal and the preset control gain when calculating the control sequence.
In some embodiments, the controller 10 may predictively encode the output signal in a preset time domain based on:
since in the motor control system, the state signal x (k) of the motor apparatus 60, the encoded output signal y (k) of the encoder 70, and the target control signal u (k) output by the compensator 30 can be expressed using a discrete state space equation:
wherein A, B and C are system matrix, beta 0 Is an initial value of the state; k is a radical of 0 D is a preset value for the initial time.
In combination with the above equation, it can be derived from the predictive control principle:
wherein,
the predictive control sequence for the networked predictive controller 10 is noted as:
the predictive control signal is calculated by:
wherein,
K d(k) the control gain is preset. Taking into account time delay between compensator and controller
The target control signal u (k) is:
therefore, the obtained closed-loop model of the motor control system is as follows:
x(k 0 )＝β 0 ,k 0 ＝-d,-d+1,...,0.
in the formula: iota = d (k) -m + 1, μ ι ＝CA ι-1 B∈R
Wherein,
and
respectively the prediction state signal and the prediction coded output signal,
is a predictive control signal.
Thus, the controller 10 is based on
Computing a predictive coded output signal
At first, according to
Calculating a time delay status signal of an electrical machine device
(i.e., a state signal taking into account a time delay factor) based on the time delayed state signal of the electromechanical device
By the formula
Obtaining a predicted state signal by iteration and variable replacement processing
Finally, according to the formula
Determining
In determining
Then, according to the following formula
Determining a predictive control signal
Wherein the preset control gain may be determined based on the lyapunov stability theorem. In some embodiments, the preset control gain may be determined by constructing a lyapunov functional and a controller and solving. In one example, the lyapunov functional is as follows:
V(k)＝V 1 (k)+V 2 (k)+V 3 (k)+V 4 (k)+V 5 (k)
V 1 (k)＝x T (k)P(d(k))x(k),
V 2 (k)＝x T (ν)R 1 x(ν),
wherein, P (d (k))>0，R 1 >0，R 2 >0，Q 1 >0，Ω i Is the minimum transition probability for a transition from modality i at time k to modality i at time k + 1.
Based on the foregoing embodiment, a motor control method of the present embodiment is provided, which is applied to the foregoing motor control system, and includes:
step S1: the encoder 70 collects a status signal of the motor device and transmits an actual encoding output signal to the controller 10 through the communication unit 20.
Step S2: the controller 10 predictively encodes the output signal in a preset time domain based on the actual encoded output signal, calculates a control sequence based on the predictively encoded output signal and a preset control gain, and transmits the control sequence to the compensator 30 through the communication unit 20.
And step S3: the compensator 30 outputs a target control signal to the comparator 40 based on the control sequence.
And step S4: the comparator 40 collects the reference control signal and the target control signal, and outputs a driving signal to the actuator 50 so that the actuator 50 controls the motor device 60 according to the driving signal.
It should be noted that, the specific structure and function of each module involved in the motor control method have been described in the foregoing description of the motor control system, and are not described herein again.
Further, with respect to the above-described motor control system, a simulation experiment may be performed to determine the performance of the motor control system in the following manner.
The simulation method provided by this embodiment is to use a linear switched reluctance motor for testing. To reduce the complexity of the verification, an initial state x (k) is given, assuming the expected signal is 0 0 )＝[0.1-0.1] T . To demonstrate the effectiveness of the motor control system, simulations were performed to verify the effectiveness of the controller 10 for both 30% and 100% random total delay occurrences.
The simulation results are shown in fig. 3-5, wherein fig. 3-1, 3-2, 3-3, and 3-4 are response curves of the system when the random time delay occurrence probability is 100% and the control method in the motor control system is not adopted for control; 4-1, 4-2, 4-3, 4-4 are response curves of the system when the random time delay occurrence probability is 30% and the control method in the motor control system is adopted for control; fig. 5-1, 5-2, 5-3 and 5-4 are response curves of the system when the random time delay occurrence probability is 100% and the control method in the motor control system is adopted for control.
Where fig. 3-1, 4-1, 5-1 are the total delay sequence (i.e., d (k)), where the abscissa is time and the ordinate is the total delay.
Fig. 3-2, 4-2, 5-2 are motor state response curves, where the abscissa is time, the ordinate is the motor state signal (i.e., x (k)), s (k) and v (k) represent the position and speed of the motor, respectively, the upper curve is s (k), and the lower curve is v (k).
Fig. 3-3, 4-3, 5-3 are output response curves with time on the abscissa and the output signal of the motor system (i.e., y (k)) on the ordinate.
Fig. 3-4, 4-4, 5-4 are target control signals (i.e., u (k)), where the abscissa is time and the ordinate is control signals.
As can be seen by comparing fig. 3-5, without using the motor control system provided herein, the motor control system tends to diverge from the unstable state. When the motor control system provided by the application is used, the system tends to be stable in about 30 seconds, and the performance is obviously improved.
Further, an experiment platform can be set up for the motor control system in the following manner to perform experiment tests.
In this embodiment, a linear switched reluctance motor is used for wiring test. Wherein, linear switch reluctance motor control system's experiment platform includes: current drivers, linear encoders, LSRM (linear switched reluctance motor), and PC (personal computer). In MATLAB/Simulink, building a simulation model of a linear switched reluctance motor control system; the linear switch reluctance motor control system model in MATLAB/Simulink can be downloaded and compiled into RT-LAB in RT-LAB software at the PC terminal. The analog output serial port of the RT-LAB transmits a current signal to a current driver so as to drive the linear switched reluctance motor to move, and the linear encoder acquires a position signal of the motor and transmits the position signal to the RT-LAB through the digital input serial port. And feeding back data collected by the RT-LAB control center to a simulation model of the linear switched reluctance motor control system in MATLAB/Simulink.
The main parameters of the linear switch reluctance motor are as follows: the voltage is 50V, the air gap is 0.3mm (millimeter), the pole width is 6mm, the pole pitch is 12mm, the mass of the stator is 5.0kg, the mass of the rotor is 3.8kg, the number of winding turns is 220, and the resolution of the linear encoder is 1 micrometer.
In order to prove the effectiveness of the motor control system, a sine expected signal is selected for experimental verification. The amplitude and frequency of the two sets of sinusoidal desired signals are 25mm, 0.1Hz and 20mm, 0.3Hz (Hertz), respectively.
The experimental results are shown in fig. 6 to 9, where REFE represents the desired signal and LSRM represents the motor position tracking signal. Error represents the position Error of the desired signal from the motor.
6-1, 6-2 are dynamic response curves of the linear switched reluctance motor control system under the condition of a sinusoidal expected signal with the frequency of 0.1Hz and the amplitude of 25mm, and without adopting the control method in the motor control system. Fig. 7-1 and 7-2 are dynamic response curves of a linear switched reluctance motor control system (i.e., the motor control system provided by the present invention) when the control method in the motor control system is adopted under a sinusoidal expected signal with a frequency of 0.1Hz and an amplitude of 25 mm. 8-1, 8-2 are dynamic response curves of a linear switched reluctance motor control system without the control method in the motor control system under a sinusoidal desired signal with a frequency of 0.3Hz and an amplitude of 20 mm. Fig. 9-1 and 9-2 are dynamic response curves of a linear switched reluctance motor control system (i.e., the motor control system provided by the present invention) when the control method in the motor control system is adopted under a sinusoidal expected signal with a frequency of 0.3Hz and an amplitude of 20 mm.
Wherein, FIG. 6-1, 7-1, 8-1, 9-1 are position tracking curves of the motor; fig. 6-2, 7-2, 8-2, 9-2 are position error curves of the motor.
Based on fig. 6-9, under the sinusoidal expected signal with frequency of 0.1Hz and amplitude of 25mm, the error coefficient of the linear switched reluctance motor control system without prediction compensation is:
E max ＝0.2946mm，E min ＝-0.2954mm，
wherein, E max 、E min And
tracking maximum position of desired signal for linear motorError, minimum position error, and average position error.
Under a sinusoidal expected signal with the frequency of 0.1Hz and the amplitude of 25mm, the error coefficient of the linear switch reluctance motor control system with the prediction compensation is as follows:
E max ＝0.1699mm，E min ＝-0.1517mm，
under a sinusoidal expected signal with the frequency of 0.3Hz and the amplitude of 20mm, the error coefficient of the linear switch reluctance motor control system without prediction compensation is as follows:
E max ＝0.4942mm，E min ＝-0.6343mm，
under a sinusoidal expected signal with the frequency of 0.3Hz and the amplitude of 20mm, the error coefficient of the linear switch reluctance motor control system with the prediction compensation is as follows:
E max ＝0.2235mm，E min ＝-0.2268mm，
therefore, the motor control system provided by the embodiment of the invention improves the control precision of the system.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A motor control system, comprising: the controller, the communication unit, the compensator, the comparator, the execution device, the motor device and the encoder are connected in sequence; the controller is respectively connected with the compensator and the encoder through the communication unit;
the encoder is used for acquiring a state signal of the motor device and transmitting an actual encoding output signal to the controller through the communication unit;
the controller is used for predicting a coding output signal in a preset time domain based on the actual coding output signal, calculating a control sequence based on the prediction coding output signal, and sending the control sequence to the compensator through the communication unit;
the compensator is used for outputting a target control signal to the comparator based on the control sequence;
the comparator is used for collecting a reference control signal and the target control signal and outputting a driving signal to the executing device so that the executing device controls the motor device according to the driving signal.
2. The motor control system of claim 1, wherein the actuator comprises: the power-electricity function distribution module and the current control loop;
the force-electric function distribution module is used for receiving the driving signal from the comparator and outputting a phase current control signal to the current control loop;
the current control loop is used for outputting a line current signal to the motor device according to the phase current control signal so as to control the motor device.
3. The motor control system of claim 1 wherein said motor means is a linear switched reluctance motor.
4. A motor control system according to claim 1, wherein the status signal comprises the speed and/or position of the motor, and the actuator controls the speed and/or position of the motor means in dependence on the drive signal.
5. The motor control system of claim 1 wherein said compensator determines a target control signal from said control sequence based on a total communication time delay, said total communication time delay comprising a forward time delay between said controller and said compensator and a feedback time delay between said controller and said encoder, and outputs said target control signal to said comparator.
6. The motor control system of claim 5 wherein the total communication time delay has a Markov characteristic.
7. The motor control system of claim 5, wherein the predetermined time domain range is determined according to a maximum value of the total communication time delay.
8. The motor control system of any of claims 1-7, wherein the controller calculates a control sequence based on the predictive coded output signal and a preset control gain.
9. The motor control system of claim 8 wherein the preset control gain is determined by constructing a lyapunov functional and the controller and solving.
10. A motor control method is characterized by being applied to a motor control system, and the motor control system comprises the following steps: the controller is connected with the compensator and the encoder through the communication unit respectively;
the motor control method includes the steps of:
the encoder acquires a state signal of the motor device and transmits an actual encoding output signal to the controller through the communication unit;
the controller predicts a coded output signal in a preset time domain based on the actual coded output signal, calculates a control sequence based on the predicted coded output signal, and transmits the control sequence to the compensator through the communication unit;
the compensator outputs a target control signal to the comparator based on the control sequence; the comparator collects a reference control signal and the target control signal, and outputs a driving signal to the execution device, so that the execution device controls the motor device according to the driving signal.
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