CN113497577A - PI parameter setting method, control system and storage device of motor controller - Google Patents
PI parameter setting method, control system and storage device of motor controller Download PDFInfo
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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
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The application discloses a PI parameter setting method, a control system and a storage device of a motor controller. The PI parameter setting method of the motor controller comprises the following steps: establishing a motor control system model comprising a motor, a speed loop controller and a current loop controller; obtaining a simplified closed loop s-domain transfer function of the current loop according to a voltage model equation s-domain transfer function of the motor and an s-domain open loop transfer function of the current loop controller; obtaining a proportional coefficient and an integral coefficient of the current loop according to an s-domain transfer function of the simplified closed loop of the current loop; and deducing an open-loop s-domain transfer function of the speed loop through the simplified closed-loop s-domain transfer function of the current loop, thereby obtaining a proportionality coefficient and an integral coefficient of the speed loop. According to the scheme, the PI parameter can be derived and calculated through a formula, and the workload of the motor controller for setting the PI parameter is reduced.
Description
Technical Field
The present disclosure relates to the field of motor control technologies, and in particular, to a PI parameter setting method, a control system, and a storage device for a motor controller.
Background
The motor is widely applied to a high-performance servo system due to the advantages of small volume, high power density, high efficiency and the like. The design of the controller parameters of the motor control system influences the system performance to a great extent. The controller of the motor control system includes a current loop controller and a speed loop controller. The current loop controller realizes the rapid following of the current of the inner loop, which is the basis for the normal work of the outer loop, and the speed loop controller is the key link for realizing the excellent speed regulation performance of the system. Therefore, the performance of the controller is improved, and an optimal PI parameter needs to be set to meet the requirements of corresponding performance indexes of the system.
For different motor control systems, there are three general methods for setting PI parameters: firstly, manual setting, namely a trial and error method, finds a PI parameter suitable for a current system through manual adjustment by artificially building a test environment, so that the PI parameter sizes of a current loop and a speed loop in a motor control system are confirmed, the motor control system is enabled to normally work, but the debugging workload is large, and time and labor are wasted; secondly, a pole configuration mode based on a high-order control object is adopted, namely, the high-order object model reflects relevant physical characteristics of an actual system, so that system PI parameters are determined, but the high-order control object is complex in modeling, and the controller parameters can be determined only through simulation analysis, so that the practical effect is poor; and thirdly, a PI parameter hybrid-integral method, namely determining the PI parameter of the system and the stability and the response speed of the system through the phase angle margin and the closed-loop bandwidth, but the calculation is complex and the calculation amount is large.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a PI parameter setting method, a control system and a storage device of a motor controller, the PI parameter can be calculated through formula derivation, and the work load of the motor controller for setting the PI parameter is greatly reduced.
In order to solve the above problem, a first aspect of the present application provides a PI parameter setting method for a motor controller, the method including: establishing a motor control system model, wherein the motor control system model comprises a motor, a speed loop controller and a current loop controller; obtaining a simplified closed loop s-domain transfer function of the current loop according to a voltage model equation s-domain transfer function of the motor and an s-domain open loop transfer function of the current loop controller; obtaining a proportional coefficient Kpcur of the current loop and an integral coefficient Kicur of the current loop according to the simplified closed loop s-domain transfer function of the current loop; obtaining an open-loop s-domain transfer function of a speed loop according to an s-domain transfer function of torque and current of the motor, an s-domain transfer function of a load of the motor, an s-domain open-loop transfer function of a current loop controller and a simplified closed-loop s-domain transfer function of the current loop; and obtaining a proportionality coefficient Kpspd of the speed ring and an integral coefficient Kispd of the speed ring according to the s-domain transfer function of the open loop of the speed ring.
To solve the above problems, a second aspect of the present application provides a motor control system including a motor, a speed loop controller, a current loop controller, and a processor coupled to each other; the processor is configured to complete PI parameter setting of the speed loop controller and the current loop controller according to the parameter information of the motor, the parameter information of the speed loop controller, and the parameter information of the current loop controller, where the processor completes the PI parameter setting by the PI parameter setting method of the motor controller according to the first aspect.
In order to solve the above problem, a third aspect of the present application provides a storage device storing program data capable of being executed by a processor, the program data being used for implementing the PI parameter tuning method of the motor controller of the first aspect.
The invention has the beneficial effects that: different from the situation of the prior art, the PI parameter setting method of the motor controller comprises the following steps: establishing a motor control system model, wherein the motor control system model comprises a motor, a speed loop controller and a current loop controller; obtaining a simplified closed loop s-domain transfer function of the current loop according to a voltage model equation s-domain transfer function of the motor and an s-domain open loop transfer function of the current loop controller; obtaining a proportional coefficient Kpcur of the current loop and an integral coefficient Kicur of the current loop according to a simplified closed loop s-domain transfer function of the current loop; obtaining an open-loop s-domain transfer function of a speed loop according to an s-domain transfer function of torque and current of the motor, an s-domain transfer function of a load of the motor, an s-domain open-loop transfer function of a current loop controller and a simplified closed-loop s-domain transfer function of the current loop; and obtaining a proportionality coefficient Kpspd of the speed ring and an integral coefficient Kispd of the speed ring according to an open-loop s-domain transfer function of the speed ring. The PI parameter is calculated through formula derivation, so that the method is convenient and quick, and the workload of the motor controller for setting the PI parameter is greatly reduced; in addition, a zero-pole elimination method is used, a closed-loop control system of a current loop is simplified into a single-pole control system, so that a closed-loop response loop of a motor control system can stably run without spike frequency response or resonance condition, and the stability of the motor control system is enhanced.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a PI parameter tuning method for a motor controller according to the present application;
FIG. 2 is a response time diagram of a current step test in an application scenario;
FIG. 3 is a block diagram illustrating the structure of an embodiment of the motor control system of the present application;
FIG. 4 is a schematic structural diagram of an embodiment of a memory device according to the present application.
Detailed Description
The following describes in detail the embodiments of the present application with reference to the drawings attached hereto.
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present application.
The terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Further, the term "plurality" herein means two or more than two.
Referring to fig. 1, fig. 1 is a schematic flowchart of an embodiment of a PI parameter setting method for a motor controller according to the present application. The PI parameter setting method of the motor controller in the embodiment comprises the following steps:
s101: and establishing a motor control system model, wherein the motor control system model comprises a motor, a speed loop controller and a current loop controller.
The motor in the embodiment adopts a permanent magnet synchronous motor, in a permanent magnet synchronous motor control system, a motor controller comprises a current loop controller and a speed loop controller, the current loop controller can realize the quick following of the current of an inner loop and is the basis for the normal work of an outer loop, and the speed loop controller can realize the key link of the excellent speed regulation performance of the system.
S102: and obtaining the s-domain transfer function of the simplified closed loop of the current loop according to the s-domain transfer function of the voltage model equation of the motor and the s-domain open loop transfer function of the current loop controller.
Specifically, the s-domain transfer function of the open-loop of the current loop may be obtained according to the s-domain transfer function of the voltage model equation of the motor and the s-domain open-loop transfer function of the current loop controller, then the s-domain transfer function of the original closed-loop of the current loop may be obtained according to the s-domain transfer function of the open-loop of the current loop, and then the s-domain transfer function of the simplified closed-loop of the current loop may be obtained according to the s-domain transfer function of the original closed-loop of the current loop.
It is understood that the s-domain open loop transfer function of the motor controller is:
PI(s)＝(Kp*Ki)/s+Kp，
since the motor controller includes a current loop controller and a speed loop controller, the s-domain open loop transfer function of the current loop controller is:
PI(s)＝((Kpcur*Kicur)/s)+Kpcur。
and the voltage model equation s domain transfer function of the motor is as follows: i (s)/v(s) 1/(R + L · s),
therefore, the open loop s-domain transfer function of the current loop can be obtained as:
Gloop(s)＝PI(s)*I(s)/V(s)＝(((Kpcur*Kicur)/s)+Kpcur)*(1/(R+L*s))；
and deducing an original closed loop s-domain transfer function of the current loop according to the open loop s-domain transfer function of the current loop, wherein the original closed loop s-domain transfer function of the current loop is as follows:
G(s)＝Gloop(s)/(1+Gloop(s))
＝(((Kpcur*Kicur)/s)+Kpcur)*(1/(R+L*s))/
(1+(((Kpcur*Kicur)/s)+Kpcur)*(1/(R+L*s)))
＝Kpcur/(s*L+Kpcur)*(Kicur*L+L*s)*(1/(R+L*s))；
wherein, R is the motor resistance, L is the motor inductance, and s is the Laplace operator.
Further, the method for obtaining the simplified s-domain transfer function of the closed-loop of the current loop according to the s-domain transfer function of the original closed-loop of the current loop includes: the method for eliminating the zero pole of the transfer function of the original closed loop s domain of the current loop is adopted, so that the closed loop control system of the current loop is simplified into a single-pole control system, and the simplified closed loop s domain transfer function of the current loop is obtained.
By setting Kicur as R/L, the zero point of a closed-loop control system of the current loop can be eliminated, the closed-loop control system of the current loop is reduced from a second-order control system to a first-order control system, and then a simplified closed-loop s-domain transfer function of the current loop is obtained; the simplified closed loop s-domain transfer function of the current loop is as follows: g(s)' (Kpcur/(s × L + Kpcur). In particular, when Kicur ═ R/L, the original closed loop s-domain transfer function g(s) of the current loop can be simplified as follows:
G(s)＝Kpcur/(s*L+Kpcur)*(Kicur*L+L*s)*(1/(R+L*s))
＝Kpcur/(s*L+Kpcur)*(R/L*L+L*s)*(1/(R+L*s))
＝Kpcur/(s*L+Kpcur)*(R+L*s)*(1/(R+L*s))
kpcur/(s × L + Kpcur); the s-domain transfer function of the simplified closed loop of the current loop is obtained as follows: g(s)' (Kpcur/(s × L + Kpcur).
Through setting Kicur to machine controller's zero point, when setting up Kicur promptly when R/L, can eliminate the zero point in the closed loop system response, reduce the closed loop control system from the second order system and become first order control system, make control system simplify to unipolar point control system to guarantee closed loop response loop steady operation, do not contain the peak frequency response or the resonance condition.
Further, according to the s-domain transfer function of the simplified closed loop of the current loop, s-Kpcur/L is the pole of the closed loop control system of the current loop, and is obtained by laplace transform: kpcur is BWcur L, and then the proportional coefficient Kpcur of the current loop and the integral coefficient Kicur of the current loop are obtained; the proportional coefficient Kpcur of the current loop is BWcur L Kcurpu, the integral coefficient Kicur of the current loop is R/L Tc, BWcur is the current controller bandwidth, Kcurpu is the per-unit coefficient of the current loop, and Tc is the current loop execution frequency. Specifically, in the above process, in order to ensure stable operation of the system, Kicur ═ R/L is set, and at this time, g(s) ═ Kpcur/(s × L + Kpcur) ═ 1/(s × L/Kpcur +1), it can be found that, s ═ Kpcur/L is the pole of the closed-loop control system of the current loop, and according to the laplace transform, it can be obtained: it is known that the larger Kpcur is, the larger the bandwidth of the current loop is, and the specific value is determined by whether a higher response bandwidth or higher stability performance is required.
In addition, response confirmation can be carried out on the current loop controller through a current step test. Specifically, by setting the value of the current controller bandwidth BWcur, the response time of the desired current loop may be obtained; and then taking 25% of the rated current of the current motor as a step current, measuring the current of any phase in the three phases of the motor by using a current probe, and verifying whether the time difference between the response time of the step current and the response time of an expected current loop is less than a preset threshold value. In an embodiment, please refer to fig. 2, fig. 2 is a schematic response time diagram of a current step test in an application scenario, where the response time is set to 1/1500 ═ 0.667msec, the magnitude of the step current may be set to 25% of the current rated current of the motor, then the current probe is used to measure the current of any phase of the three phases of the motor, and the response time of the step current is observed; for example, setting the current controller bandwidth BWcur to 1500rad/s, the expected response time is about 1/1500 ═ 0.667ms, and it can be observed from fig. 2 that the actual measured current loop response is a time constant of 0.65 ms (time from 0 to 63.2% of the step current).
S103: and obtaining a proportional coefficient Kpcur of the current loop and an integral coefficient Kicur of the current loop according to a simplified closed loop s-domain transfer function of the current loop.
By the method, the calculation mode of the discretized current loop PI parameter is as follows:
the proportionality coefficient Kpcur of the current loop is BWcur L Kcurpu;
the integral coefficient of the current loop Kicur ═ R/L Tc; wherein: BWcur is the current controller bandwidth, L is the motor inductance, Kcurpu is the per unit coefficient of the current loop, R is the motor resistance, and Tc is the current loop execution frequency. The proportional coefficient Kpcur of the current loop and the integral coefficient Kicur of the current loop can be obtained.
S104: and obtaining the s-domain transfer function of the open-loop of the speed loop according to the s-domain transfer function of the torque and the current of the motor, the s-domain transfer function of the load of the motor, the s-domain open-loop transfer function of the speed loop controller and the s-domain transfer function of the simplified closed-loop of the current loop.
Specifically, since the s-domain open-loop transfer function of the motor controller is known, and the motor controller includes a current loop controller and a speed loop controller, the s-domain open-loop transfer function of the speed loop controller is: pi(s) ((Kpspd Kispd)/s) + Kpspd. And the s-domain transfer function of the torque and the current of the motor is as follows: tc(s) 2/3P Φ; the s-domain transfer function of the load of the motor is: tload(s) 1/(J · s); thus, the open loop s-domain transfer function of the velocity loop can be obtained as:
Gspeed(s)＝(((Kpspd*Kispd)/s)+Kpspd)*(Kpcur/(s*L+Kpcur))*(2/3*P*φ)*(1/(J*s))；
wherein, P is the pole pair number of the motor, and phi is the magnetic flux of the rotor.
S105: and obtaining a proportionality coefficient Kpspd of the speed ring and an integral coefficient Kispd of the speed ring according to an open-loop s-domain transfer function of the speed ring.
It can be found that on the basis of the s-domain transfer function of the open-loop of the speed loop, a proper speed response bandwidth and a proper damping factor are selected according to the application requirements, and the speed loop PI control parameter meeting the system requirements can be rapidly calculated. Specifically, the calculation method of the discretized speed ring PI parameter is as follows:
the proportionality coefficient Kpspd of the speed loop is BWspeed J4/(Damp phi);
the integral coefficient Kispd of the velocity loop Ts/(Kspdpu Kpspd Damp) is BWspeed2)；
Wherein BWspeed is the speed controller bandwidth, Damp is the damping factor, Kspdpu is the per unit speed loop coefficient, and Ts is the speed loop execution frequency.
Therefore, in the motor control system, PI control parameters in a speed loop (outer loop) and a current loop (inner loop) can be obtained by setting a current loop response bandwidth, a speed loop response bandwidth and a damping factor, the three set parameters have practical significance, and the response speed of the motor control system can be intuitively known; the PI control parameters of the motor control system can be calculated quickly, the operation is convenient and quick, and the work load of the motor control system for setting the PI parameters is greatly reduced.
The application also provides a motor control system. Referring to fig. 3, fig. 3 is a schematic block diagram of a motor control system according to an embodiment of the present application, the motor control system includes a motor 30, a speed loop controller 32, a current loop controller 34, and a processor 36, which are coupled to each other; the processor 36 is configured to complete PI parameter setting of the speed loop controller 32 and the current loop controller 34 according to the parameter information of the motor 30, the parameter information of the speed loop controller 32, and the parameter information of the current loop controller 34, wherein the processor 36 completes the PI parameter setting by the above-mentioned PI parameter setting method of the motor controller.
In an embodiment, the motor control system may further include a speed sensor 31 and a current sensor 33; the speed sensor 31 is used for detecting a speed signal of the motor 30 and feeding the speed signal back to the speed ring controller 32; the speed loop controller 32 is used for performing PI parameter adjustment according to the input speed instruction signal and the speed signal fed back by the speed sensor 31 and then outputting a current instruction signal to the current loop controller 34; the current sensor 33 is used for detecting a current signal of the motor 30 and feeding the current signal back to the current loop controller 34; the current loop controller 34 is configured to perform PI parameter adjustment according to the current command signal output by the speed loop controller 32 and the current signal fed back by the current sensor 33, and output a current input signal to the motor 30. It is understood that the difference between the input value of the speed loop (i.e., the input speed command signal) and the feedback value of the speed loop (i.e., the speed signal fed back by the speed sensor 31) is output to the current loop after PI adjustment of the speed loop (mainly proportional gain and integral processing), the input value of the current loop is the output value after PI adjustment of the speed loop, and the difference between the input value of the current loop (i.e., the current command signal output by the speed loop controller 32) and the feedback value of the current loop (i.e., the current signal fed back by the current sensor 33) is PI adjusted in the current loop and output to the motor 30. Specifically, the speed loop is an outer loop, the current loop is an inner loop, a difference value between an input speed command signal and a speed signal fed back by the speed sensor 31 serving as feedback is input to the speed loop controller 32, then the processor 36 outputs a given value serving as the current loop controller 34 after the PI control is completed by the PI parameter setting method of the motor controller, and simultaneously, the current signal fed back by the current sensor 33 serving as feedback is input to the current loop controller 34, and the processor 36 outputs the current signal to the motor after the PI control is completed by the PI parameter setting method of the motor controller, so that the control of the operation of the motor is completed.
In other embodiments, the current signal of the motor 30 can be obtained and fed back by setting a sampling resistor instead of the current sensor 33, and the speed signal of the motor 30 can be obtained and fed back by the processor 36 directly through the obtained current signal instead of setting the speed sensor 31.
For the specific content of the processor 36 to complete the PI parameter setting in the present application, please refer to the content in the above embodiment of the PI parameter setting method of the motor controller, which is not described herein again.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a memory device according to an embodiment of the present application. The memory device 40 of the present application stores program data 400 capable of being executed by the processor, and the program data 400 is used for implementing the steps of any of the embodiments of the PI parameter tuning method of the motor controller.
The storage device 40 may be a medium that can store the program data 400, such as a Micro Control Unit (MCU), a usb disk, a mobile hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may be a server that stores the program data 400, and the server may transmit the stored program data 400 to another device for operation, or may operate the stored program data 400 by itself.
In the several embodiments provided in the present application, it should be understood that the disclosed method, system, and apparatus may be implemented in other ways. For example, the above-described system, apparatus and device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and another division may be implemented in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit 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 application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application.
Claims (11)
1. A PI parameter setting method of a motor controller is characterized by comprising the following steps:
establishing a motor control system model, wherein the motor control system model comprises a motor, a speed loop controller and a current loop controller;
obtaining a simplified closed loop s-domain transfer function of the current loop according to a voltage model equation s-domain transfer function of the motor and an s-domain open loop transfer function of the current loop controller;
obtaining a proportional coefficient Kpcur of the current loop and an integral coefficient Kicur of the current loop according to the simplified closed loop s-domain transfer function of the current loop;
obtaining an open-loop s-domain transfer function of a speed loop according to an s-domain transfer function of torque and current of the motor, an s-domain transfer function of a load of the motor, an s-domain open-loop transfer function of the speed loop controller and a simplified closed-loop s-domain transfer function of the current loop;
and obtaining a proportionality coefficient Kpspd of the speed ring and an integral coefficient Kispd of the speed ring according to the s-domain transfer function of the open loop of the speed ring.
2. The method of claim 1, wherein the step of deriving the simplified closed-loop s-domain transfer function of the current loop from the s-domain transfer function of the voltage model equation for the electric machine and the s-domain open-loop transfer function of the current loop controller comprises:
obtaining an open loop s-domain transfer function of the current loop according to the voltage model equation s-domain transfer function of the motor and the s-domain open loop transfer function of the current loop controller;
obtaining an original closed loop s-domain transfer function of the current loop according to the open loop s-domain transfer function of the current loop;
and simplifying the closed-loop control system of the current loop into a single-pole control system by adopting a zero-pole elimination method for the s-domain transfer function of the original closed-loop of the current loop, and obtaining the simplified s-domain transfer function of the closed-loop of the current loop.
3. The method of claim 2,
the voltage model equation s domain transfer function of the motor is as follows: i (s)/v(s) ═ 1/(R + L · s);
the s-domain open loop transfer function of the current loop controller is as follows:
PI(s)＝((Kpcur*Kicur)/s)+Kpcur；
the open loop s-domain transfer function of the current loop is as follows:
Gloop(s)＝PI(s)*I(s)/V(s)＝(((Kpcur*Kicur)/s)+Kpcur)*(1/(R+L*s))；
the s-domain transfer function of the original closed loop of the current loop is as follows:
G(s)＝Gloop(s)/(1+Gloop(s))＝Kpcur/(s*L+Kpcur)*(Kicur*L+L*s)*(1/(R+L*s))；
wherein, R is the motor resistance, L is the motor inductance, and s is the Laplace operator.
4. The method according to claim 3, wherein the step of simplifying the closed-loop control system of the current loop to a single-pole control system and obtaining the simplified closed-loop s-domain transfer function of the current loop by using a pole-zero elimination method for the s-domain transfer function of the original closed-loop s-domain of the current loop comprises:
setting Kicur as R/L to eliminate the zero point of a closed-loop control system of a current loop, reducing the closed-loop control system of the current loop from a second-order control system to a first-order control system, and further obtaining a simplified closed-loop s-domain transfer function of the current loop; wherein the simplified closed loop s-domain transfer function of the current loop is: g(s)' (Kpcur/(s × L + Kpcur).
5. The method of claim 4, wherein the step of obtaining the proportionality coefficient Kpcur and the integral coefficient Kicur of the current loop according to the simplified closed-loop s-domain transfer function of the current loop comprises:
according to the simplified closed loop s-domain transfer function of the current loop, the position where s is Kpcur/L is the pole of the closed loop control system of the current loop, and the simplified closed loop s-domain transfer function can be obtained according to laplace transform: kpcur is BWcur L, and then a proportional coefficient Kpcur of the current loop and an integral coefficient Kicur of the current loop are obtained;
the proportional coefficient Kcurr of the current loop is BWcur L Kcurrpu, the integral coefficient Kicur of the current loop is R/L Tc, BWcur is the bandwidth of the current controller, Kcurrpu is the per-unit coefficient of the current loop, and Tc is the execution frequency of the current loop.
6. The method of claim 5, further comprising:
and response confirmation is carried out on the current loop controller through a current step test.
7. The method of claim 6, wherein said step of responsively validating said current loop controller through a current step test comprises:
setting the bandwidth BWcur value of the current controller to obtain the response time of an expected current loop;
and taking 25% of the rated current of the current motor as a step current, measuring the current of any phase in three phases of the motor by using a current probe, and verifying whether the time difference between the response time of the step current and the response time of an expected current loop is less than a preset threshold value.
8. The method of claim 4,
according to the s-domain transfer function of the torque and the current of the motor, the method comprises the following steps: tc(s) 2/3P phi,
the s-domain transfer function of the load of the motor is as follows: tload(s) 1/(J ×) s,
the s-domain open loop transfer function of the speed loop controller is as follows:
(s) PI (Ksps Kispd)/s) + Ksps, and a simplified closed loop s-domain transfer function of the current loop,
and obtaining an open loop s-domain transfer function of the speed loop as follows:
Gspeed(s)＝(((Kpspd*Kispd)/s)+Kpspd)*(Kpcur/(s*L+Kpcur))*(2/3*P*φ)*(1/(J*s))；
selecting proper speed controller bandwidth and damping factor according to application requirements, thereby obtaining:
the proportional coefficient Kpspd of the speed loop is BWspeed J4/(Damp phi), and the integral coefficient Kispd of the speed loop is Ts/(Kspdpu Kpspd Damp)2)；
Wherein, P is the pole pair number of the motor, phi is the magnetic flux of the rotor, BWspeed is the bandwidth of the speed controller, Damp is the damping factor, Kspdppu is the per-unit coefficient of the speed ring, and Ts is the execution frequency of the speed ring.
9. A motor control system, the control system comprising a motor, a speed loop controller, a current loop controller and a processor coupled to each other; the processor is used for completing PI parameter setting of the speed loop controller and the current loop controller according to parameter information of the motor, parameter information of the speed loop controller and parameter information of the current loop controller, wherein the processor completes the PI parameter setting through the method of any one of claims 1 to 8.
10. The motor control system of claim 9, further comprising a speed sensor and a current sensor;
the speed sensor is used for detecting a speed signal of the motor and feeding the speed signal back to the speed ring controller;
the current sensor is used for detecting a current signal of the motor and feeding the current signal back to the current loop controller;
the speed loop controller is used for carrying out PI parameter adjustment according to an input speed instruction signal and a speed signal fed back by the speed sensor and then outputting a current instruction signal to the current loop controller;
and the current loop controller is used for carrying out PI parameter adjustment according to the current instruction signal output by the speed loop controller and the current signal fed back by the current sensor and then outputting a current input signal to the motor.
11. A storage device, characterized in that program data are stored which can be executed by a processor for implementing the method as claimed in any one of claims 1 to 8.
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