CN113794404A - Phase deviation compensation control method for double-shaft precision centrifugal machine - Google Patents

Phase deviation compensation control method for double-shaft precision centrifugal machine Download PDF

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CN113794404A
CN113794404A CN202110957551.7A CN202110957551A CN113794404A CN 113794404 A CN113794404 A CN 113794404A CN 202110957551 A CN202110957551 A CN 202110957551A CN 113794404 A CN113794404 A CN 113794404A
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phase
shaft
theta
slave
frequency
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刘师辉
陈文颖
舒杨
魏子棱
付兴
吕磊
尹鹏
成永博
白俊林
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General Engineering Research Institute China Academy of Engineering Physics
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
    • H02P5/56—Speed and position comparison between the motors by electrical means

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Abstract

The invention discloses a phase deviation compensation control method of a double-shaft precision centrifuge, which relates to the technical field of double-shaft precision centrifuges and comprises the following steps: s1, acquiring the main shaft rotation speed V1 of the double-shaft precision centrifuge, and regarding V1 as an initial rotation speed command of the auxiliary shaft to obtain a corresponding phase lag amount theta 1; s2, acquiring a main shaft phase Pos1, regarding Pos1 as a target phase and an original step command of the slave shaft, and summing the phase lag amount theta 1 and the original step command Pos1 of the slave shaft to obtain a corrected slave shaft phase command Pos 2; s3, synchronously measuring the main shaft phase and the slave shaft phase to obtain a whole circle mean value theta 2 of the deviation of the main shaft phase and the slave shaft phase, and summing the corrected slave shaft phase command Pos2 and the theta 2 to obtain a compensated slave shaft phase command Pos 3; s4, the Pos3 is used as the slave axis phase driving signal to eliminate the phase lag.

Description

Phase deviation compensation control method for double-shaft precision centrifugal machine
Technical Field
The invention relates to the technical field of double-shaft precise centrifuges, in particular to a phase deviation compensation control method of a double-shaft precise centrifuge.
Background
The precision centrifugal machine is an important instrument used for calibrating inertial instruments and mainly comprises a single-shaft precision centrifugal machine and a double-shaft precision centrifugal machine. The double-shaft precision centrifuge is structurally characterized in that the driven shaft is arranged at the tail end of the main shaft, the axes of the main shaft and the driven shaft are parallel, zero-angle speed input is realized through synchronous reversal of the main shaft and the driven shaft, and the calibration precision of inertial instruments such as a gyroscope and the like can be obviously improved.
In order to realize synchronous reversal of two shafts, the method used at present is to detect the phase output of a main shaft on the basis of ensuring stable operation of the main shaft, and use the phase output as a phase driving signal of a driven shaft, and the driven shaft controls the operation of the driven shaft in a three-layer closed loop structure of phase, rotating speed and torque, so as to realize synchronous motion control between the main shaft and the driven shaft.
However, due to the working characteristics of the phase ring of the servo driver, a phase lag condition exists when the driven shaft rotates along with the main shaft, and the lag quantity is increased along with the increase of the rotating speed of the centrifugal machine in an equal ratio; meanwhile, due to factors such as the fluctuation of the rotating speed of the main shaft and the fluctuation of the rotating damping torque of the driven shaft, periodic phase deviation fluctuation exists between the driven shaft and the main shaft, and the fluctuation frequency is in direct proportion to the rotating frequency of the centrifuge. It is difficult to achieve the phase lock requirement on the order of an angle second by directly compensating the driven axis phase driving signal.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a phase deviation compensation control method of a double-shaft precision centrifugal machine.
The purpose of the invention is realized by the following technical scheme:
a phase lag compensation method for a double-shaft precision centrifuge comprises the following steps:
s1, acquiring the main shaft rotation speed V1 of the double-shaft precision centrifuge, regarding V1 as an initial rotation speed command of the auxiliary shaft to obtain a corresponding phase lag amount theta 1, and executing the step S2;
s2, acquiring a main shaft phase Pos1, regarding Pos1 as a target phase and an original step command of the slave shaft, summing the phase lag amount theta 1 and the original step command Pos1 of the slave shaft to obtain a corrected slave shaft phase command Pos2, and executing step S3;
s3, synchronously measuring the main shaft phase and the slave shaft phase to obtain a whole circle mean value theta 2 of the deviation of the main shaft phase and the slave shaft phase, summing the corrected slave shaft phase command Pos2 and the theta 2 to obtain a compensated slave shaft phase command Pos3, and executing the step S4;
s4, the Pos3 is used as the slave axis phase driving signal to eliminate the phase lag.
Further, in step S1, the rotation speed of the spindle of the dual spindle precision centrifuge is obtained by a rotation speed measuring module of the servo driver.
In step S1, the phase lag θ 1 is V1/P1, where P1 is a proportional gain coefficient of the phase loop of the slave axis servo driver.
Further, in step S2, the modified slave axis phase command Pos2 has the following calculation formula:
Pos2＝Pos1+θ1＝Pos1+V1/P1
in step S2, the spindle phase Pos1 is acquired by an incremental circular grating mounted coaxially with the spindle.
Further, in step S3, the compensated slave axis phase command Pos3 is calculated as:
Pos3＝Pos2+θ2＝Pos1+V1/P1+θ2
a method for compensating for a periodic phase deviation of a two-axis precision centrifuge, comprising the method for compensating for a phase lag of the two-axis precision centrifuge according to any one of claims 1 to 5, further comprising the steps of:
s61, measuring the phase deviation theta 3 between the main shaft and the auxiliary shaft after the phase lag is eliminated, comparing the phase deviation with a phase deviation target setting theta 0, if theta 3 is less than or equal to theta 0, indicating that the periodic phase deviation meets the target setting requirement and does not need to be eliminated; if θ 3 > θ 0, perform step S62;
s62, performing Fourier transform on the time domain waveform of the phase deviation theta 3 to obtain a power spectrum thereof, obtaining the frequency f1 and the amplitude Af1 of the fundamental frequency signal and the frequency f2 and the amplitude Af2 of the 2-frequency doubling signal in the power spectrum, and executing the step S63;
s63, generating a sine wave a1 with frequency f1 and amplitude Af1 and initial phase 0, and a sine wave a2 with frequency f2 and amplitude Af2 and initial phase 0, and executing step S64;
s64, generating a compensation signal A by superposing A1 and A2, compensating the compensation signal A into the slave axis phase command Pos3, and executing the step S65;
s65, measuring the phase deviation theta 4 of the compensation signal A after the compensation signal A is compensated to the slave axis phase command Pos3, carrying out Fourier transformation on the time domain waveform of the phase deviation theta 4 to obtain a power spectrum of the phase deviation theta 4, obtaining the frequency f11 and the amplitude Af11 of a fundamental frequency signal and the frequency f22 and the amplitude Af22 of a 2-frequency doubling signal in the power spectrum, and executing the step S66;
s66, calculating initial phases theta 5 and theta 6 of two sinusoidal waveforms A1 and A2 in the compensation signal A according to the frequency f11 and the amplitude Af11 of the fundamental frequency signal and the frequency f22 and the amplitude Af22 of the 2-frequency multiplication signal, respectively taking the theta 5 and the theta 6 as phase values of a sinusoidal wave A1 and a sinusoidal wave A2 to obtain A11 and A22, and executing the step S67;
s67, the A11 and the A22 are superposed to obtain a compensation signal B, the compensation signal B replaces the compensation signal A to compensate the compensation signal A to the slave shaft phase command Pos3, the slave shaft is controlled to rotate, the step S61 is executed until theta 3 is less than or equal to theta 0, and the periodic phase deviation compensation is completed.
Further, in the step S63, the expression formulas of a1 and a2 are as follows:
Figure BDA0003216016160000031
further, in the steps S64 and S67, the expression formula of the compensation signal a generated by superimposing a1 and a2 is:
A＝A1+A2＝Af1sin(2πf1t)+Af2sin(2πf2t)
the expression formula of the compensation signal B obtained by superposing A11 and A22 is as follows:
B＝A11+A22＝Af1sin(2πf1t+θ5)+Af2sin(2πf2t+θ6)。
further, in the step S66, the expression formula for calculating the initial phases θ 5 and θ 6 of the two sinusoidal waveforms a1 and a2 in the compensation signal a according to the frequency f11 and the amplitude Af11 of the fundamental frequency signal and the frequency f22 and the amplitude Af22 of the 2-times frequency signal is as follows:
Figure BDA0003216016160000032
Figure BDA0003216016160000033
further, in the step S66, the expression formulas of a11 and a22 are as follows:
Figure BDA0003216016160000034
the invention has the beneficial effects that:
according to the method, the real-time phase of the main shaft and the auxiliary shaft is accurately measured, the difference value between the auxiliary shaft phase feedback signal and the main shaft phase feedback signal is calculated, the obtained result and the auxiliary shaft phase driving signal are summed and solved to realize iterative compensation of the auxiliary shaft phase driving signal, and further a high-precision double-shaft phase synchronous control effect is realized.
Drawings
FIG. 1 is a flow chart of the present invention for eliminating phase lag;
FIG. 2 is a flow chart of the present invention for eliminating periodic phase offset;
FIG. 3 is a structural view of a control system of the dual-shaft precision centrifuge of the present invention;
fig. 4 is a 10-turn full-cycle master-slave axis phase deviation map after the phase deviation compensation control of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 4 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other implementations obtained by those skilled in the art based on the embodiments of the present invention without creative efforts will be made.
In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.
A phase lag compensation method for a double-shaft precision centrifuge comprises the following steps:
s1, acquiring the main shaft rotation speed V1 of the double-shaft precision centrifuge, regarding V1 as an initial rotation speed command of the auxiliary shaft to obtain a corresponding phase lag amount theta 1, and executing the step S2;
s2, acquiring a main shaft phase Pos1, regarding Pos1 as a target phase and an original step command of the slave shaft, summing the phase lag amount theta 1 and the original step command Pos1 of the slave shaft to obtain a corrected slave shaft phase command Pos2, and executing step S3;
s3, synchronously measuring the main shaft phase and the slave shaft phase to obtain a whole circle mean value theta 2 of the deviation of the main shaft phase and the slave shaft phase, summing the corrected slave shaft phase command Pos2 and the theta 2 to obtain a compensated slave shaft phase command Pos3, and executing the step S4;
s4, the Pos3 is used as the slave axis phase driving signal to eliminate the phase lag.
Further, in step S1, the rotation speed of the spindle of the dual spindle precision centrifuge is obtained by a rotation speed measuring module of the servo driver.
In step S1, the phase lag θ 1 is V1/P1, where P1 is a proportional gain coefficient of the phase loop of the slave axis servo driver.
Further, in step S2, the modified slave axis phase command Pos2 has the following calculation formula:
Pos2＝Pos1+θ1＝Pos1+V1/P1
in step S2, the spindle phase Pos1 is acquired by an incremental circular grating mounted coaxially with the spindle.
Further, in step S3, the compensated slave axis phase command Pos3 is calculated as:
Pos3＝Pos2+θ2＝Pos1+V1/P1+θ2
a method for compensating for a periodic phase deviation of a two-axis precision centrifuge, comprising the method for compensating for a phase lag of the two-axis precision centrifuge according to any one of claims 1 to 5, further comprising the steps of:
s61, measuring the phase deviation theta 3 between the main shaft and the auxiliary shaft after the phase lag is eliminated, comparing the phase deviation with a phase deviation target setting theta 0, if theta 3 is less than or equal to theta 0, indicating that the periodic phase deviation meets the target setting requirement and does not need to be eliminated; if θ 3 > θ 0, perform step S62;
s62, performing Fourier transform on the time domain waveform of the phase deviation theta 3 to obtain a power spectrum thereof, obtaining the frequency f1 and the amplitude Af1 of the fundamental frequency signal and the frequency f2 and the amplitude Af2 of the 2-frequency doubling signal in the power spectrum, and executing the step S63;
s63, generating a sine wave a1 with frequency f1 and amplitude Af1 and initial phase 0, and a sine wave a2 with frequency f2 and amplitude Af2 and initial phase 0, and executing step S64;
s64, generating a compensation signal A by superposing A1 and A2, compensating the compensation signal A into the slave axis phase command Pos3, and executing the step S65;
s65, measuring the phase deviation theta 4 of the compensation signal A after the compensation signal A is compensated to the slave axis phase command Pos3, carrying out Fourier transformation on the time domain waveform of the phase deviation theta 4 to obtain a power spectrum of the phase deviation theta 4, obtaining the frequency f11 and the amplitude Af11 of a fundamental frequency signal and the frequency f22 and the amplitude Af22 of a 2-frequency doubling signal in the power spectrum, and executing the step S66;
s66, calculating initial phases theta 5 and theta 6 of two sinusoidal waveforms A1 and A2 in the compensation signal A according to the frequency f11 and the amplitude Af11 of the fundamental frequency signal and the frequency f22 and the amplitude Af22 of the 2-frequency multiplication signal, respectively taking the theta 5 and the theta 6 as phase values of a sinusoidal wave A1 and a sinusoidal wave A2 to obtain A11 and A22, and executing the step S67;
s67, the A11 and the A22 are superposed to obtain a compensation signal B, the compensation signal B replaces the compensation signal A to compensate the compensation signal A to the slave shaft phase command Pos3, the slave shaft is controlled to rotate, the step S61 is executed until theta 3 is less than or equal to theta 0, and the periodic phase deviation compensation is completed.
Further, in the step S63, the expression formulas of a1 and a2 are as follows:
Figure BDA0003216016160000051
further, in the steps S64 and S67, the expression formula of the compensation signal a generated by superimposing a1 and a2 is:
A＝A1+A2＝Af1sin(2πf1t)+Af2sin(2πf2t)
the expression formula of the compensation signal B obtained by superposing A11 and A22 is as follows:
B＝A11+A22＝Af1sin(2πf1t+θ5)+Af2sin(2πf2t+θ6)。
further, in the step S66, the expression formula for calculating the initial phases θ 5 and θ 6 of the two sinusoidal waveforms a1 and a2 in the compensation signal a according to the frequency f11 and the amplitude Af11 of the fundamental frequency signal and the frequency f22 and the amplitude Af22 of the 2-times frequency signal is as follows:
Figure BDA0003216016160000061
Figure BDA0003216016160000062
further, in the step S66, the expression formulas of a11 and a22 are as follows:
Figure BDA0003216016160000063
the specific implementation mode is as follows:
one, eliminating phase lag
S1: measuring the main shaft rotating speed V1 by using a rotating speed measuring module of the servo driver, regarding V1 as an auxiliary shaft initial rotating speed instruction, and calculating a corresponding phase lag amount theta 1:
θ1＝V1/P1
in the formula: p1 is the proportional gain factor of the slave axis servo drive phase loop.
S2: and (3) carrying out high-precision measurement on the main shaft phase Pos1, regarding Pos1 as a target phase and an original step command of the driven shaft, and summing the phase lag amount theta 1 and the original step command Pos1 to obtain a corrected driven shaft phase command Pos 2:
Pos2＝Pos1+θ1＝Pos1+V1/P1
the corrected phase deviation from the axis is known as follows:
e(Pos)＝(V1-V0)/P1
in the formula: v0 is the target rotation speed of the driven shaft, i.e. the actual rotation speed of the main shaft.
Ideally, the slave axis phase deviation can be completely eliminated if the servo driver velocity measurement is considered to be completely accurate and have no hysteresis, i.e. V1 is equal to V0, but in practical cases, the measurement of V1 is limited by the calculation accuracy and data delay of the servo driver speed module, taking the servo driver of the kor morgan AKD system as an example, the servo driver will have a speed measurement deviation of 0.1% and a time delay of 150ms to 200ms, and for a speed of 83r/min and a speed increase rate of 0.1rpm/s, the resulting speed measurement deviation (V1-V0) < 0.1r/min, and the resulting slave axis phase deviation e (pos) will reach tens of angular seconds. Therefore, it is necessary to further eliminate the slave axis phase following deviation caused by the limitation of the operation accuracy of the servo driver and the data delay.
S3: and (3) performing high-precision synchronous measurement on the main shaft phase and the slave shaft phase to obtain a whole circle average value theta 2 of the phase deviation of the main shaft and the slave shaft, and summing the corrected slave shaft phase command Pos2 and the theta 2 to obtain a compensated slave shaft phase command Pos 3:
Pos3＝Pos2+θ2＝Pos1+V1/P1+θ2
s4: the elimination of the phase lag is accomplished using Pos3 as the slave axis phase drive signal.
Second, eliminate the periodic phase deviation
The basic cause of the periodic phase deviation is the periodic fluctuation of the system rotation resistance, and due to the obvious periodic characteristic, the periodic phase deviation can be eliminated by adopting a mode of iteratively injecting a periodic phase compensation quantity.
S5: the phase deviation theta 3 between the main shaft and the auxiliary shaft after the phase lag amount is eliminated is measured and compared with the phase deviation target setting theta 0. If theta 3 is less than or equal to theta 0, the periodic phase deviation meets the target setting requirement and does not need to be eliminated; if θ 3 > θ 0, the step of S6 is performed.
S6: and performing Fourier transform on the time domain waveform of the phase deviation theta 3 to obtain a power spectrum of the time domain waveform, and recording the frequency f1 and the amplitude Af1 of the fundamental frequency signal and the frequency f2 and the amplitude Af2 of the 2-frequency doubling signal in the power spectrum.
S7: a sine wave a1 with an initial phase of 0 with a frequency f1 and amplitude Af1 and a sine wave a2 with a frequency f2, amplitude Af2 and initial phase 0 are generated.
Figure BDA0003216016160000071
A1 and A2 are superposed to generate a compensation signal A, the A is compensated into a slave shaft phase command Pos3, and the slave shaft rotation is controlled.
A＝A1+A2＝Af1sin(2πf1t)+Af2 sin(2πf2t)
S8: the compensated off-axis phase lag θ 4 is measured, the power spectrum is obtained by performing fourier transform on the time domain waveform, and the frequency f11 and the amplitude Af11 of the fundamental frequency signal and the frequency f22 and the amplitude Af22 of the 2-fold frequency signal in the power spectrum are recorded.
S9: the initial phases θ 5 and θ 6 of the two sinusoidal waveforms a1 and a2 in the compensation signal a are calculated using the following formula:
Figure BDA0003216016160000072
Figure BDA0003216016160000073
s10: the phase values of the sine wave a1 and the sine wave a2 are denoted by θ 5 and θ 6, respectively, to obtain a11 and a 22.
Figure BDA0003216016160000074
A11 and A22 are superposed to obtain a new compensation signal B, the B replacement compensation signal A is compensated into a slave shaft phase control command Pos3, the slave shaft rotation is controlled, and then S5 is jumped.
B＝A11+A22＝Af1sin(2πf1t+θ5)+Af2sin(2πf2t+θ6)
Fig. 3 is a schematic structural diagram of a control system for realizing phase deviation compensation of a two-shaft precision centrifuge. The main shaft is regarded as an independent control unit, a target rotating speed is set by a measuring and controlling computer, a main shaft servo driver controls a main shaft motor to rotate in a rotating speed-torque double-layer closed loop structure, and meanwhile, a main shaft encoder feeds a main shaft rotating speed signal back to the main shaft servo driver and feeds a main shaft rotating phase pulse signal back to a phase synchronization measuring system. Meanwhile, the phase synchronization measurement system sends the rotation phase of the main shaft to the motion controller to serve as an original stepping instruction of the slave shaft servo driver, and the slave shaft servo driver controls the slave shaft motor to rotate reversely at the same speed along with the main shaft. And meanwhile, a slave shaft encoder feeds back a slave shaft rotation phase pulse signal to a phase synchronization measurement system, the phase synchronization measurement system carries out high-precision measurement on the real-time phase of the master shaft and the slave shaft, calculates the phase difference value between the master shaft and the slave shaft and sends the phase difference value to a motion control system, the motion control system carries out summation calculation and iterative compensation on slave shaft phase instructions according to the steps of eliminating phase lag and eliminating periodic phase deviation, a slave shaft servo driver controls the slave shaft motor to rotate according to the slave shaft phase instructions sent by the motion control system in a phase-rotating speed-torque three-layer closed loop structure, and finally the high-precision double-shaft phase synchronization control effect is realized.
As shown in FIG. 4, after the phase deviation compensation control is carried out on the double-shaft precision centrifuge by the invention, the phase deviation between the main shaft and the secondary shaft is calculated to be 10-circle whole-period average value, the phase deviation of the double shaft is less than 1', the phase locking precision of an angle-second level is reached, and the phase locking precision is far higher than the angle-graded locking precision of the current double-shaft precision centrifuge.
The foregoing is merely a preferred embodiment of the invention, it being understood that the embodiments described are part of the invention, and not all of it. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The invention is not intended to be limited to the forms disclosed herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A phase lag compensation method for a double-shaft precision centrifuge is characterized by comprising the following steps:
s1, acquiring the main shaft rotation speed V1 of the double-shaft precision centrifuge, regarding V1 as an initial rotation speed command of the auxiliary shaft to obtain a corresponding phase lag amount theta 1, and executing the step S2;
s2, acquiring a main shaft phase Pos1, regarding Pos1 as a target phase and an original step command of the slave shaft, summing the phase lag amount theta 1 and the original step command Pos1 of the slave shaft to obtain a corrected slave shaft phase command Pos2, and executing step S3;
s3, synchronously measuring the main shaft phase and the slave shaft phase to obtain a whole circle mean value theta 2 of the deviation of the main shaft phase and the slave shaft phase, summing the corrected slave shaft phase command Pos2 and the theta 2 to obtain a compensated slave shaft phase command Pos3, and executing the step S4;
s4, the Pos3 is used as the slave axis phase driving signal to eliminate the phase lag.
2. The phase lag compensation method of a dual-shaft precision centrifuge according to claim 1, wherein in step S1, the rotation speed of the main shaft of the dual-shaft precision centrifuge is obtained by a rotation speed measuring module of the servo driver.
3. The phase lag compensation method of claim 2, wherein in step S1, the phase lag θ 1 is V1/P1, where P1 is the proportional gain coefficient of the phase loop of the slave axis servo driver.
4. The phase lag compensation method of a dual-axis precision centrifuge as claimed in claim 1, wherein in step S2, the formula of the corrected slave axis phase command Pos2 is as follows:
Pos2＝Pos1+θ1＝Pos1+V1/P1
in step S2, the spindle phase Pos1 is acquired by an incremental circular grating mounted coaxially with the spindle.
5. The phase lag compensation method of a dual-axis precision centrifuge as claimed in claim 1, wherein in step S3, the compensated slave axis phase command Pos3 is calculated by the following formula:
Pos3＝Pos2+θ2＝Pos1+V1/P1+θ2。
6. a method for compensating for a periodic phase deviation of a two-axis precision centrifuge, comprising the method for compensating for a phase lag of a two-axis precision centrifuge according to any one of claims 1 to 5, further comprising the steps of:
s61, measuring the phase deviation theta 3 between the main shaft and the auxiliary shaft after the phase lag is eliminated, comparing the phase deviation with a phase deviation target setting theta 0, if theta 3 is less than or equal to theta 0, indicating that the periodic phase deviation meets the target setting requirement and does not need to be eliminated; if θ 3 > θ 0, perform step S62;
s62, performing Fourier transform on the time domain waveform of the phase deviation theta 3 to obtain a power spectrum thereof, obtaining the frequency f1 and the amplitude Af1 of the fundamental frequency signal and the frequency f2 and the amplitude Af2 of the 2-frequency doubling signal in the power spectrum, and executing the step S63;
s63, generating a sine wave a1 with frequency f1 and amplitude Af1 and initial phase 0, and a sine wave a2 with frequency f2 and amplitude Af2 and initial phase 0, and executing step S64;
s64, generating a compensation signal A by superposing A1 and A2, compensating the compensation signal A into the slave axis phase command Pos3, and executing the step S65;
s65, measuring the phase deviation theta 4 of the compensation signal A after the compensation signal A is compensated to the slave axis phase command Pos3, carrying out Fourier transformation on the time domain waveform of the phase deviation theta 4 to obtain a power spectrum of the phase deviation theta 4, obtaining the frequency f11 and the amplitude Af11 of a fundamental frequency signal and the frequency f22 and the amplitude Af22 of a 2-frequency doubling signal in the power spectrum, and executing the step S66;
s66, calculating initial phases theta 5 and theta 6 of two sinusoidal waveforms A1 and A2 in the compensation signal A according to the frequency f11 and the amplitude Af11 of the fundamental frequency signal and the frequency f22 and the amplitude Af22 of the 2-frequency multiplication signal, respectively taking the theta 5 and the theta 6 as phase values of a sinusoidal wave A1 and a sinusoidal wave A2 to obtain A11 and A22, and executing the step S67;
s67, the A11 and the A22 are superposed to obtain a compensation signal B, the compensation signal B replaces the compensation signal A to compensate the compensation signal A to the slave shaft phase command Pos3, the slave shaft is controlled to rotate, the step S61 is executed until theta 3 is less than or equal to theta 0, and the periodic phase deviation compensation is completed.
7. The method for compensating for the periodic phase deviation of a two-axis precision centrifuge as recited in claim 6, wherein in said step S63, the expressions of a1 and a2 are:
Figure FDA0003216016150000021
8. the periodic phase deviation compensation method of the biaxial precision centrifuge as recited in claim 6, wherein in said steps S64 and S67, the expression formula of the compensation signal a generated by superimposing a1 and a2 is:
A＝A1+A2＝Af1sin(2πf1t)+Af2sin(2πf2t)
the expression formula of the compensation signal B obtained by superposing A11 and A22 is as follows:
B＝A11+A22＝Af1sin(2πf1t+θ5)+Af2sin(2πf2t+θ6)。
9. the periodic phase deviation compensation method for the dual-shaft precision centrifuge as claimed in claim 6, wherein in said step S66, the expression formula of initial phases θ 5 and θ 6 of two sinusoidal waveforms a1 and a2 in the compensation signal a is calculated according to the frequency f11 and the amplitude Af11 of the fundamental frequency signal and the frequency f22 and the amplitude Af22 of the 2 times frequency signal:
Figure FDA0003216016150000022
Figure FDA0003216016150000023
。
10. the method for compensating for the periodic phase deviation of a two-axis precision centrifuge as recited in claim 9, wherein in said step S66, the expressions a11 and a22 are:
Figure FDA0003216016150000031
。
CN202110957551.7A 2021-08-17 2021-08-17 Phase deviation compensation control method for double-shaft precision centrifugal machine Pending CN113794404A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115149847A (en) * 2022-08-03 2022-10-04 哈尔滨工业大学 Shaft offset compensation method for five-phase motor coaxial series system
CN115639856A (en) * 2022-12-26 2023-01-24 招商局金陵船舶(南京)有限公司 Synchronous monitoring and control system and method for propulsion shaft of double-shaft propulsion ship

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115149847A (en) * 2022-08-03 2022-10-04 哈尔滨工业大学 Shaft offset compensation method for five-phase motor coaxial series system
CN115149847B (en) * 2022-08-03 2023-02-24 哈尔滨工业大学 Shaft offset compensation method for five-phase motor coaxial series system
CN115639856A (en) * 2022-12-26 2023-01-24 招商局金陵船舶(南京)有限公司 Synchronous monitoring and control system and method for propulsion shaft of double-shaft propulsion ship

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