CN113890424B - Parameter identification-based tuning method for PI controller of speed ring of permanent magnet synchronous motor - Google Patents
Parameter identification-based tuning method for PI controller of speed ring of permanent magnet synchronous motor Download PDFInfo
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Classifications
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/006—Controlling linear motors
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0022—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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a parameter identification-based tuning method for a speed loop PI controller of a permanent magnet synchronous motor, and belongs to the field of motor control. The invention combines the thrust (torque) coefficient and the mass (inertia) in the speed loop frequency domain model of the traditional permanent magnet synchronous motor into a gain, identifies the gain, and then uses the identification result to tune the controller. The algorithm realizes gain identification by giving a periodic speed instruction and utilizing the relation between the periodically-changed speed and the speed differential; and tuning the controller by taking the open loop cut-off frequency and the phase margin as indexes to realize the speed control of the permanent magnet synchronous motor with high performance. The proposed algorithm combines high performance, reliability and simplicity. The algorithm is verified on the permanent magnet synchronous linear motor, and a good effect is shown.
Description
Technical Field
The invention relates to a parameter identification-based tuning method for a speed loop PI controller of a permanent magnet synchronous motor, and belongs to the technical field of motor control.
Background
The permanent magnet synchronous motor is widely applied to logistics transportation, production line transportation, servo control and various scenes with mass (inertia) load, a high-performance speed loop controller is required for ensuring that the speed of a rotor is stable and free from overshoot, fluctuation is small and accurate in position positioning, the thrust (torque) coefficient and the mass (inertia) of the motor are required for realizing the high-performance speed loop controller, the parameters can be obtained through a parameter identification algorithm, but two parameters are required to be identified through different methods in traditional parameter identification, so that the parameter identification work is quite complex.
Aiming at the problems, a PI controller tuning algorithm based on parameter identification is provided, gain identification is realized through a given periodic speed instruction, and the controller tuning is completed by utilizing an identification result. The whole tuning process can be directly realized in the microcontroller without the help of the calculation of an upper computer by the proposed controller tuning algorithm, and the controller tuning can be performed before and during the starting work of the motor by combining the parameter identification technology. The high-performance speed control plays the advantages of high positioning speed and accurate positioning of the permanent magnet motor in servo control.
Disclosure of Invention
Aiming at the technical problems, the invention provides a tuning method of a speed loop PI controller of a permanent magnet synchronous motor based on parameter identification, which aims to improve the accuracy and efficiency of parameter identification and the performance of the speed controller.
The specific technical scheme of the invention is as follows: the permanent magnet synchronous motor speed loop PI controller tuning method based on parameter identification comprises a three-layer closed loop structure of a current loop, a speed loop and a position loop from inside to outside;
the input of the current loop is the output of the speed loop, namely, a given current instruction is adopted to be compared with the feedback current, and a given voltage instruction is output through the PI controller, wherein the control process of the speed loop and the position loop is the same;
the input of the speed loop is a given speed instruction and is also the output of the position loop, and the feedback of the speed loop and the position loop are respectively the speed and the position of the motor;
combining thrust coefficient and mass in a speed loop frequency domain model of the permanent magnet synchronous motor into a gain, and realizing gain identification by setting a periodic speed instruction to improve identification precision and identification efficiency; and (3) tuning the speed loop PI controller by taking the open loop cut-off frequency and the phase margin as indexes, converting the constraint of the open loop cut-off frequency and the phase margin indexes into a geometric relation of intersection of an ellipse and a straight line, and vividly describing the performance of the controller from the geometric angle.
Further: the tuning method specifically comprises the following steps:
sending set speed, position, voltage and current instructions to a motor, controlling the motor to operate in a speed closed loop, performing off-line speed loop gain identification, and inputting an identification result into a controller;
the motor is controlled to run in a speed closed loop or a position closed loop, a trapezoidal wave or triangular wave speed instruction is output by a position loop controller, the speed loop gain of the permanent magnet synchronous motor is identified on line by utilizing the relation between the speed and the speed differential, and the identification result is input into a tuning formula of the controller in real time to realize tuning of the on-line controller.
Further, the first step specifically comprises:
the motor is controlled at a speed closed loop, a sine wave speed instruction is given, a position signal and a current signal are sampled respectively, the motor speed and the differential thereof are obtained through calculation by using the position signal, and the motor speed loop gain is obtained by substituting the following formula:
where b is the speed loop gain, λ is the bandwidth of the low pass filter, s is the Laplacian, v (t) is the motor speed, i q (t) is q-axis current;
substituting the motor speed loop gain into the following parameters to obtain the controller parameters, analyzing and calculating whether an ellipse corresponding to the open loop cut-off frequency and a straight line corresponding to the phase margin have intersection points in the first quadrant, and completing the tuning of the offline controller:
wherein K is p And K i Is the proportional and integral coefficients, ω, of the controller c Andis the open loop cut-off frequency and phase margin, T ic Is the inertia time constant corresponding to the current loop, m and n are the lengths of the long and short axes of the ellipse, and k is the slope of the straight line.
Further, the second step specifically comprises:
the motor is controlled at a position closed loop, the integral of the triangular wave or trapezoidal wave instruction is used as a track planner to give a position instruction, and at the moment, the position controller outputs the triangular wave or trapezoidal wave to the speed controller to sample a position signal and a current signal respectively;
the speed and its derivative are calculated using the position, the rest of the steps are the same as off-line tuning.
The invention has the advantages that:
(1) The two parameters to be identified, namely the mass (inertia) and the thrust (torque) coefficient, are simplified into one parameter, so that the efficiency and the precision of parameter identification are improved, and the proposed parameter identification algorithm is simple and feasible, has high convergence speed and high reliability;
(2) The tuning of the parameters of the controller during the starting of the motor is realized through off-line parameter identification; the parameter tuning of the self-adaptive controller in the running process of the motor is realized through on-line parameter identification, so that the complexity of the parameter tuning work of the controller is reduced, and the performance of the controller is improved.
Drawings
FIG. 1 is a schematic diagram of a gain-based velocity loop frequency domain model;
FIG. 2 is a flowchart of the execution of the algorithm of the tuning method of the PI controller of the speed ring of the permanent magnet synchronous motor based on parameter identification;
FIG. 3 is a flow chart of offline tuning;
FIG. 4 is a flow chart of online tuning;
FIG. 5 is a block diagram of an implementation of a gain identification algorithm;
FIG. 6 is a diagram of geometric constraints for controller tuning;
FIG. 7 is a graph of sine wave velocity given versus velocity response;
FIG. 8 is a graph of trapezoidal wave velocity given versus velocity response;
FIG. 9 is a graph of triangular wave velocity set versus velocity response;
FIG. 10 is a waveform diagram of gain identification convergence;
in the figure, b is the gain, d (x) is the disturbance, and a isRatio of viscous friction coefficient to mass, i q For q-axis current, v is speed.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
according to the parameter identification-based tuning method for the speed loop PI controller of the permanent magnet synchronous motor, thrust, namely torque coefficient and mass, namely inertia, in a traditional speed loop frequency domain model of the permanent magnet synchronous motor are combined into one gain, so that two parameters to be identified required by tuning of the controller are reduced to one, gain identification is realized through a given periodic speed instruction, and identification precision and identification efficiency are improved; the tuning of the speed loop PI controller is realized by taking the open loop cut-off frequency and the phase margin as indexes, the constraint of the two indexes is converted into the geometrical relation of intersection of the ellipse and the straight line, and the performance of the controller is vividly described from the geometrical angle.
Example 1
The tuning method is verified on a single-sided flat-plate permanent magnet synchronous linear motor, and comprises the following steps of:
step one, for a brand new motor, firstly, a sine speed command is given, the off-line identification of the gain of a speed loop of the permanent magnet and the motor is realized by utilizing the relation between the sine speed and the sine speed differential, the controller parameters during starting are calculated for the motor according to the gain, and then the motor can continue to operate in the speed loop or further operate under a position closed loop according to the requirement.
The gain identification and controller tuning method is derived as follows:
as shown in fig. 1, for a gain-based velocity loop frequency domain model, the motion equation of the motor in the gain form is:
wherein B is gain, a is the ratio of the viscous friction coefficient to mass, B is the viscous friction coefficient, F D For disturbance thrust, d (x) is disturbance, M is mass, K f For pushingForce coefficient.
The coefficient of viscous friction and the friction of the slide rail can be considered constant over a given period of speed, and can be obtained:
given that the speed is given as a periodic signal with period T, the speed and its derivative in one period satisfy the following relationship:
where T is the period of the speed change, T is time, A is the magnitude of a given speed,it is apparent that the above conclusion can be also be true for the trapezoidal wave and triangular wave velocity set.
The process eliminates the identification error caused by the viscosity coefficient, reduces the parameters to be identified, and improves the identification precision and the identification efficiency.
Further deriving, the available gains are:
since the sampling rate is derived from the position differential, the sampling rate itself contains sampling noise, which is unacceptable through the speed differential, as well as the current sampling, which can be removed by a low pass filter.
Then, after the low-pass filter is added, the calculation formula of the gain is as follows:
wherein q is 2 (t) is the filtered velocity, q 3 (t) is the filtered current, delta n The algorithm block diagram of the gain discrimination is shown in fig. 2, since noise disturbance in discrimination is ignored in calculation.
The principle of tuning the speed loop controller is as follows:
wherein K is p And K i Is the proportional and integral coefficients, ω, of the controller c Andis the open loop cut-off frequency and phase margin, T ic Is the inertia time constant corresponding to the current loop, a, b, and k are the lengths of the major and minor axes of the ellipse, and k is the slope of the straight line.
When omega is given c Andand (3) calculating the proportional and integral coefficients of the controller when the index is obtained, and finishing the tuning of the controller.
As shown in fig. 6, the X and Y axis coordinates at the intersection of the straight line and the circle are the calculated proportional and integral coefficients.
When the controller is tuned for the first time, the motor is controlled at a speed closed loop, sine wave speed instructions are given, position signals and current signals are sampled respectively, the motor speed and the differential thereof are obtained through calculation by using the position signals, and the motor speed loop gain can be obtained by substituting the position signals into the following formula:
where b is the speed loop gain, λ is the bandwidth of the low pass filter, s is the Laplacian, v (t) is the motor speed, i q (t) is q-axis current;
substituting the motor speed loop gain into the following parameters to obtain the controller parameters, analyzing and calculating whether an ellipse corresponding to the open loop cut-off frequency and a straight line corresponding to the phase margin have intersection points in the first quadrant, and completing the tuning of the offline controller:
and step two, after the first time of tuning of the controller in the step one, the motor can be controlled to operate in a speed closed loop or a position closed loop, if the motor works in the position loop, a trapezoidal wave or triangular wave speed command is output by the position loop controller, if the motor works in the speed loop, the trapezoidal wave or triangular wave speed command is directly given, the speed loop gain of the permanent magnet synchronous motor is identified on line by utilizing the relation between the speed and the speed differential, and the identification result is input into a tuning formula of the controller in real time to realize tuning of the on-line controller.
And analyzing and calculating whether an ellipse corresponding to the open loop cut-off frequency and a straight line corresponding to the phase margin exist an intersection point in the first quadrant by utilizing the identified gain, and if the intersection point exists, indicating that the given controller performance index can be achieved. The controller parameters are adaptively adjusted under the on-line condition, so that the motor control with high performance and high reliability is realized, and the algorithm is applicable to all types of permanent magnet synchronous motors.
The second step is specifically as follows:
if the motor is controlled to be in a position closed loop, the position command is given by taking the integral of the triangular wave or trapezoidal wave command as a track planner, and the position controller outputs the triangular wave or trapezoidal wave to the speed controller at the moment to sample a position signal and a current signal respectively;
if the motor is controlled in a speed closed loop, directly giving triangular waves or trapezoidal waves as speed instructions, and respectively sampling position signals and current signals;
the speed and the differential thereof are obtained by position calculation, and the rest steps are the same as the off-line tuning, except that the on-line tuning calculates a speed loop gain in each speed instruction period, and the gain is calculated in real time to obtain the controller parameters, thereby realizing the self-adaptive tuning of the controller.
As shown in the flowchart of fig. 2, when the motor is operated in the position closed loop, the trapezoidal wave or triangular wave speed command shown in fig. 8 and 9 is output through the position loop controller, the algorithm of fig. 5 is executed to recognize the gain online, and the current recognition result is utilized to adaptively adjust the controller parameters.
A brand new motor needs to be subjected to speed closed loop firstly, after the off-line speed loop gain identification, the controller parameters required by the motor during starting are calculated, on the basis, the motor can be made to work at a position closed loop or a speed closed loop according to the requirements, the on-line identification can be carried out in the process, the controller parameters are tuned and updated in real time, and the high performance of a control system is maintained.
The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but rather is intended to cover any and all modifications, equivalents, alternatives, and improvements within the spirit and principles of the present application.
Claims (2)
1. The tuning method of the PI controller of the speed ring of the permanent magnet synchronous motor based on parameter identification is characterized by comprising the following steps of: the control system of the permanent magnet synchronous motor comprises a three-layer closed-loop structure of a current loop, a speed loop and a position loop from inside to outside;
the input of the current loop is the output of the speed loop, namely, a given current instruction is adopted to be compared with the feedback current, and a given voltage instruction is output through the PI controller, wherein the control process of the speed loop and the position loop is the same;
the input of the speed loop is a given speed instruction and is also the output of the position loop, and the feedback of the speed loop and the position loop are respectively the speed and the position of the motor;
combining thrust coefficient and mass in a speed loop frequency domain model of the permanent magnet synchronous motor into a speed loop gain, and realizing speed loop gain identification by setting a periodic speed instruction so as to improve identification precision and identification efficiency; the tuning of the speed loop PI controller is realized by taking the open loop cut-off frequency and the phase margin as indexes, the constraint of the open loop cut-off frequency and the phase margin indexes is converted into the geometrical relation that the ellipse intersects with the straight line, and the performance of the controller is vividly described from the geometrical angle;
the tuning method specifically comprises the following steps:
step one, sending set speed, position, voltage and current instructions to a motor, controlling the motor to run in a speed closed loop, carrying out off-line speed loop gain identification, and inputting an identification result into a controller; the first step is specifically as follows:
the motor is controlled at a speed closed loop, a sine wave speed instruction is given, a position signal and a current signal are sampled respectively, the motor speed and the differential thereof are obtained through calculation by using the position signal, and the motor speed loop gain is obtained by substituting the following formula:
where b is the speed loop gain, λ is the bandwidth of the low pass filter, s is the Laplacian, v (t) is the motor speed, i q (t) is q-axis current; t is the period of the speed change;
substituting the motor speed loop gain into the following parameters to obtain the controller parameters, analyzing and calculating whether an ellipse corresponding to the open loop cut-off frequency and a straight line corresponding to the phase margin have intersection points in the first quadrant, and completing the tuning of the offline controller:
wherein K is p And K i Is the proportional and integral coefficients, ω, of the controller c Andis the open loop cut-off frequency and phase margin, T ic Is the inertia time constant corresponding to the current loop, m and n are the lengths of the long and short axes of the ellipse, and k is the slope of the straight line;
and secondly, controlling the motor to run in a speed closed loop or a position closed loop, outputting a trapezoidal wave or triangular wave speed instruction by a position loop controller, identifying the speed loop gain of the permanent magnet synchronous motor on line by utilizing the relation between the speed and the speed differential, and inputting the identification result into a tuning formula of the controller in real time to realize tuning control of the on-line controller.
2. The parameter identification-based permanent magnet synchronous motor speed loop PI controller tuning method according to claim 1, wherein: the second step is specifically as follows:
the motor is controlled at a position closed loop, the integral of the triangular wave or trapezoidal wave instruction is used as a track planner to give a position instruction, and at the moment, the position controller outputs the triangular wave or trapezoidal wave to the speed controller to sample a position signal and a current signal respectively;
the speed and its derivative are calculated using the position, the rest of the steps are the same as off-line tuning.
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| CN101989827A (en) * | 2010-11-18 | 2011-03-23 | 东南大学 | Method for automatically adjusting speed loop control parameters of alternating-current servo system based on inertia identification |
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