CN114977941B - Inertia identification method, device and medium for alternating current servo system - Google Patents
Inertia identification method, device and medium for alternating current servo system 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The application discloses an inertia identification method, device and medium for an alternating current servo system, and relates to the field of servo systems. In a servo system response stage, acquiring a plurality of time periods through a preset sampling period; acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque; obtaining disturbance torque according to the q-axis current and the rotor position signal; obtaining a correction torque according to the real-time torque and the disturbance torque; performing n equal-part discretization processing on each time period according to a preset sampling period and correction torque to obtain discretization processing results; and acquiring the moment of inertia of the servo system according to the discretization processing result. Therefore, the time interval is selected in the system response stage, so that the problems of long time span and large limitation of acceleration and deceleration inertia identification are solved; meanwhile, real-time observation of disturbance torque is increased, reliability of load inertia identification is improved, and accurate control of a servo system is further achieved.
Description
Technical Field
The present application relates to the field of servo systems, and in particular, to a method, an apparatus, and a medium for identifying inertia of an ac servo system.
Background
At present, the control of the alternating current servo system is mainly realized by the identification of the load moment of inertia by an acceleration and deceleration method. The system rotational inertia is calculated by directly controlling acceleration and deceleration of the servo system to obtain the acceleration and deceleration time and the change of the speed before and after acceleration and deceleration of the system, and further control is realized.
However, the method has larger error according to the actual test result and the theoretical calculation result. The system inertia-based control ignores the response time of the system, the running current of the alternating-current inertia system is not a stable value, the electromagnetic torque fluctuates, and a large error can be caused by adopting constant calculation directly through an acceleration and deceleration method; since the system is not allowed to exceed the defined speed, there will be a speed loop PID adjustment when the maximum speed is reached, resulting in a slow speed rise, and errors will also occur in the calculation with the entire rise process. For the above reasons, a large error is caused to the accuracy of the moment of inertia identification, which in turn results in lower control accuracy of the servo system.
In view of the above problems, designing an inertia identification method for an ac servo system, which can effectively improve the accuracy of moment of inertia identification, is a problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide an inertia identification method, device and medium for an alternating current servo system, which solve the problem of overlarge error of the traditional servo system identification control through acceleration and deceleration inertia, and further realize accurate control.
In order to solve the technical problems, the application provides an inertia identification method of an alternating current servo system, comprising the following steps:
in a servo system response stage, acquiring a plurality of time periods through a preset sampling period; wherein, each time period is the same and smaller than the preset sampling period;
acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque;
according to the described q Acquiring disturbance torque by shaft current and the rotor position signal;
obtaining a correction torque according to the real-time torque and the disturbance torque;
performing n equal-part discretization processing on each time period according to the preset sampling period and the correction torque to obtain discretization processing results; wherein n is a positive integer greater than 1;
and acquiring the moment of inertia of the servo system according to the discretization processing result.
Preferably, after the moment of inertia of the servo system is obtained according to the discretization result, the method further includes:
controlling the servo system based on the moment of inertia q Shaft current and said real-time torque.
Preferably, the specific process of obtaining the disturbance torque according to the q-axis current and the rotor position signal includes:
wherein omega e Is the electric angular velocity, theta e C for the rotor position signal 1 And c 2 K for disturbance torque observer gain L Is a torque constant, ω is a mechanical angular velocity, J is a moment of inertia of the servo system,for the disturbance torque i q And correcting current obtained by filtering the q-axis current subjected to d-q transformation for the input three-phase current.
Preferably, the performing n equal-divided discretization processing on each time period according to the preset sampling period and the correction torque includes:
respectively obtaining the difference value of the real-time torque and the correction torque in each time period;
and carrying out n equal-part discretization processing on each time period according to the difference value to obtain each corresponding discretization processing result.
Preferably, the obtaining the moment of inertia of the servo system according to the discretization result includes:
superposing the discretization processing results;
and obtaining the difference value of each discretization result after superposition processing to obtain the moment of inertia.
Preferably, before the acquiring the plurality of time periods through the preset sampling period, the method further includes:
judging whether the servo system responds or not;
if yes, entering the step of acquiring a plurality of time periods through a preset sampling period;
if not, waiting for a preset period, and returning to the step of judging whether the servo system responds.
Preferably, after said controlling said q-axis current and said real-time torque of said servo system according to said moment of inertia, further comprises:
and outputting information of the real-time torque of the servo system.
In order to solve the technical problem, the application also provides an inertia identification device of an alternating current servo system, which comprises:
the first acquisition module is used for acquiring a plurality of time periods through a preset sampling period in a servo system response stage; wherein, each time period is the same and smaller than the preset sampling period;
the second acquisition module is used for acquiring the q-axis current of the input three-phase current subjected to d-q transformation and acquiring a rotor position signal and real-time torque;
a third acquisition module for acquiring a disturbance torque from the q-axis current and the rotor position signal;
the fourth acquisition module is used for acquiring correction torque according to the real-time torque and the disturbance torque;
the discretization processing module is used for carrying out n equal-part discretization processing on each time period according to the preset sampling period and the correction torque so as to obtain discretization processing results; wherein n is a positive integer greater than 1;
and a fifth acquisition module, configured to acquire rotational inertia of the servo system according to the discretization result.
In order to solve the technical problem, the application also provides another inertia identification device of an alternating current servo system, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the alternating current servo system inertia identification method when executing the computer program.
In order to solve the technical problem, the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the steps of the inertia identification method of the alternating current servo system when being executed by a processor.
According to the alternating current servo system inertia identification method provided by the application, in a servo system response stage, a plurality of time periods are acquired through a preset sampling period; wherein, each time period is the same and smaller than a preset sampling period; acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque; obtaining disturbance torque according to the q-axis current and the rotor position signal; obtaining a correction torque according to the real-time torque and the disturbance torque; performing n equal-part discretization processing on each time period according to a preset sampling period and correction torque to obtain discretization processing results; wherein n is a positive integer greater than 1; and acquiring the moment of inertia of the servo system according to the discretization processing result. Therefore, the time interval is selected in the system response stage, so that the problems of long time span and large limitation of acceleration and deceleration inertia identification are solved; meanwhile, real-time observation of disturbance torque is increased, reliability of load inertia identification is improved, and accurate control of a servo system is further achieved.
In addition, the embodiment of the application also provides an inertia identification device of the alternating current servo system and a computer readable storage medium, and the effects are the same.
Drawings
For a clearer description of embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a flowchart of an inertia recognition method for an AC servo system according to an embodiment of the present application;
FIG. 2 is a flowchart of another method for identifying inertia of an AC servo system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an inertia recognition method of an AC servo system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an inertia recognition device for an AC servo system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of another inertia recognition device for an ac servo system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present application.
The application provides an inertia identification method and device for an alternating current servo system and a computer readable storage medium.
In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description.
The alternating current servo system comprises an alternating current servo system based on an asynchronous motor and an alternating current servo system based on a synchronous motor, and has the characteristics of good stability, good rapidity and high precision. At present, the control of the alternating current servo system is realized through the acceleration and deceleration method load moment of inertia identification, and the actual test result and the theoretical calculation result have larger errors, so that the control precision of the servo system is lower. Therefore, the embodiment of the application provides an inertia identification method for an alternating current servo system, which can effectively improve the accuracy of moment of inertia identification. Fig. 1 is a flowchart of an inertia recognition method of an ac servo system according to an embodiment of the present application. As shown in fig. 1, the inertia identification method of the ac servo system includes:
s10: in a servo system response stage, acquiring a plurality of time periods through a preset sampling period; wherein, each time period is the same and smaller than a preset sampling period.
S11: the input three-phase current q-axis current subjected to d-q transformation is obtained, and a rotor position signal and real-time torque are obtained.
S12: according to q The shaft current and rotor position signals obtain the disturbance torque.
S13: and obtaining the correction torque according to the real-time torque and the disturbance torque.
S14: and carrying out n equal-part discretization processing on each time period according to a preset sampling period and correction torque so as to obtain discretization processing results. Wherein n is a positive integer greater than 1.
S15: and acquiring the moment of inertia of the servo system according to the discretization processing result.
Specifically, in the response phase of the servo system, a preset sampling period T is set S And randomly selecting a plurality of time periods in a preset period. It should be noted that the time periods are the same, and because the time period is selected based on the preset sampling period, the time period is smaller than the preset sampling period. In this embodiment, the specific number of time periods is not limited, and depends on the specific implementation. In view of calculation accuracy and calculation complexity, as a preferred embodiment, the number of time periods acquired in the preset sampling period may be two, respectively Δt 1 And DeltaT 2 Wherein DeltaT 1 ＝ΔT 2 Compared with inertia identification with long time span, the control precision of the servo system is improved
Further, various parameters of the servo system are acquired in the acquired time period. In which the three-phase current input to the servo system is required to be obtained through d-q conversion q Shaft currentRotor position signals and real-time torque are acquired. The d-q transform, the park transform, also translated as the park transform, is one of the most commonly used coordinate transforms for analyzing synchronous motor operation. The d-q transformation projects three-phase currents of a, b and c of the stator onto a direct axis (d axis) rotating along with the rotor, and the quadrature axis (q axis) and a zero axis (0 axis) perpendicular to the dq plane are formed, so that diagonalization of a stator inductance matrix is realized, and the operation analysis of the synchronous motor is simplified. And rotor position signal theta e The real-time torque T of the servo system can be acquired through a rotor position sensor of the servo system, and the torque sensor is utilized to acquire the real-time torque T of the servo system.
At the moment of obtaining input servo systemQ-axis current of three-phase current through d-q conversionRotor position signal θ e After that, according to q-axis current +.>Rotor position signal θ e Obtaining disturbance torque +.>Thereby realizing the real-time observation of the disturbance torque of the servo system. In this embodiment, the specific process of obtaining the disturbance torque is not limited, and depends on the specific implementation. At the moment of disturbance>Then, the real-time torque T vector is added to obtain the correction torque T of the AC servo system L 。
Further, n equal-divided discretization processing is carried out on each time period according to a preset sampling period and correction torque, and a discretization processing result is obtained. Note that n is a positive integer greater than 1. In this embodiment, the specific process of the n-equal discrete processing is not limited, and depends on the specific implementation. And finally, acquiring the moment of inertia of the servo system according to the discretization processing result. Specifically, the moment of inertia can be obtained by a motion balance equation of the servo system. The specific process of obtaining the moment of inertia is not limited in this embodiment, and depends on the specific implementation.
In the embodiment, in a servo system response stage, a plurality of time periods are acquired through a preset sampling period; wherein, each time period is the same and smaller than a preset sampling period; acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque; obtaining disturbance torque according to the q-axis current and the rotor position signal; obtaining a correction torque according to the real-time torque and the disturbance torque; performing n equal-part discretization processing on each time period according to a preset sampling period and correction torque to obtain discretization processing results; wherein n is a positive integer greater than 1; and acquiring the moment of inertia of the servo system according to the discretization processing result. Therefore, the time interval is selected in the system response stage, so that the problems of long time span and large limitation of acceleration and deceleration inertia identification are solved; meanwhile, real-time observation of disturbance torque is increased, reliability of load inertia identification is improved, and accurate control of a servo system is further achieved.
Fig. 2 is a flowchart of another inertia recognition method for an ac servo system according to an embodiment of the present application. As a preferred embodiment, after obtaining the moment of inertia of the servo system according to the discretization result, as shown in fig. 2, the method further includes:
s16: controlling servo systems based on moment of inertia q Shaft current and real-time torque.
It will be appreciated that the moment of inertia of the ac servo system is obtained in the above embodiments. As a preferred embodiment, in the present embodiment, the q-axis current of the servo system is controlled according to the moment of inertia. The q-axis current is a virtual current of the servo system, and the real-time torque of the servo system can be further controlled by controlling the q-axis current, so that the control of the servo system is realized.
In the embodiment, the q-axis current and the real-time torque of the servo system are controlled according to the moment of inertia, so that the torque of the servo system is controlled.
Based on the above embodiments:
as a preferred embodiment, the specific process of obtaining the disturbance torque from the q-axis current and the rotor position signal includes:
wherein omega e Is the electric angular velocity, theta e For rotor position signal c 1 And c 2 K for disturbance torque observer gain L Is a torque constant, ω is a mechanical angular velocity, J is a moment of inertia of the servo system,for disturbance torque, i q And correcting current obtained by filtering q-axis current of the three-phase current subjected to d-q transformation.
In the above embodiment, the specific acquisition process of the disturbance torque is not limited, and depends on the specific implementation. As a preferred embodiment, the disturbance torqueSpecifically, the method is obtained through the formula.
It will be appreciated that disturbance torque observer versus disturbance torque can be achieved by the above formulaIs a real-time observation of (a). In which some parameters of the servo system are involved, e.g. electrical angular velocity omega e Disturbance torque observer gain c 1 And c 2 Torque constant K L The mechanical angular velocity ω, the moment of inertia J of the servo system, etc. are all obtained by the sensor of the servo system itself, and the obtaining process is not limited in this embodiment, and depends on the specific implementation.
It should be noted that the disturbance torque observer takes the current i q As an input quantity, and performs a filtering process thereon. Specifically, adding a first order low pass filter to the disturbance torque observer eliminates i q High frequency noise and error of (a); in order to improve the response speed, a differential operation is not added to the disturbance torque estimation calculation formula. Inputting the calculated rotor position signal theta e And a current signal i q Into the disturbance torque observer, a disturbance torque value can be estimated. Will compensate the current i qem The current is fed back to the front end corresponding to the reference instruction current(i.e., q-axis current of d-q converted three-phase current input to servo system +.>) And the current compensation is carried out for real-time compensation, so that the load real-time torque can be effectively obtained.
In the embodiment, the disturbance torque is obtained through the disturbance torque estimation calculation formula, so that the disturbance torque is obtained, and the response speed is higher.
Based on the above embodiments:
as a preferred embodiment, performing n equal-divided discretization processing on each time period according to a preset sampling period and a correction torque includes:
respectively obtaining the difference value of the real-time torque and the correction torque in each time period;
and carrying out n equal-part discretization processing on each time period according to the difference value to obtain corresponding discretization processing results.
In the above embodiment, the specific process of the n-equal discrete processing is not limited, and depends on the specific implementation. As a preferred embodiment, the number of time periods is two, respectively DeltaT 1 And DeltaT 2 For example, the discretization process is as follows:
first, respectively find DeltaT 1 And DeltaT 2 Correction torque T of internal real-time torque T and load torque L Is a difference in (c). Second, the method is characterized by the following steps. For DeltaT 1 And DeltaT 2 Discretizing n equal parts in time, delta T 1 The discretization processing result in the time period is as follows:
T e11 -T L ＝(J m +J L )(ω 11 -ω 10 )·n/ΔT 1
T e12 -T L ＝(J m +J L )(ω 12 -ω 11 )·n/ΔT 1
T e13 -T L ＝(J m +J L )(ω 13 -ω 12 )·n/ΔT 1
……
T e1n -T L ＝(J m +J L )(ω 1n -ω 1(n-1) )·n/ΔT 1
wherein T is e11 、T e12 、T e13 、…、T e1n Represents DeltaT 1 Within a time period, after discretization of n equal parts, each DeltaT 1 Real-time torque in n cycles; j (J) m +J L Representing the moment of inertia of the servo system, where J m For the moment of inertia of the electronic rotor, J L Representing the moment of inertia of the load; omega 11 -ω 10 、ω 12 -ω 11 、ω 13 -ω 12 、…、ω 1n -ω 1(n-1) Represented at DeltaT 1 Within a time period, each DeltaT 1 Rotor angular velocity increment at the end point of n period; omega 1n Represents DeltaT 1 End speed, omega of nth time interval in time interval 1(n-1) Represents DeltaT 1 The time initial velocity of the nth interval in the time interval.
Similarly, for DeltaT 2 Discretizing n equal parts in time to obtain:
T e21 -T L ＝(J m +J L )(ω 21 -ω 20 )·n/ΔT 2
T e22 -T L ＝(J m +J L )(ω 22 -ω 21 )·n/ΔT 2
T e23 -T L ＝(J m +J L )(ω 23 -ω 22 )·n/ΔT 2
……
T e2n -T L ＝(J m +J L )(ω 2n -ω 2(n-1) )·n/ΔT 2
wherein T is e21 、T e22 、T e23 、…、T e2n Represents DeltaT 2 Within a time period, after discretization of n equal parts, each DeltaT 2 Real-time torque in n cycles; j (J) m +J L Representing the moment of inertia of the servo system, where J m For the moment of inertia of the electronic rotor, J L Representing the moment of inertia of the load; omega 21 -ω 20 、ω 22 -ω 21 、ω 23 -ω 22 、…、ω 2n -ω 2(n-1) Represented at DeltaT 2 Within a time period, each DeltaT 2 Rotor angular velocity increment at the end point of n period; omega 2n Represents DeltaT 2 End speed, omega of nth time interval in time interval 2(n-1) Represents DeltaT 2 The time initial velocity of the nth interval in the time interval.
It should be noted that the equilibrium equation is based on the servo system operationCalculating J in each time interval m +J L . Wherein J m For the moment of inertia of the rotor of the servo motor, J L Is the moment of inertia of the load; omega r The real-time rotating speed of the servo system is obtained.
In addition, parameters involved in the discretization process, such as the moment of inertia of the servo system, the moment of inertia of the electronic rotor, the moment of inertia of the liability and the like, can be obtained by the sensor, and the specific obtaining mode is not limited, so that the parameters depend on specific implementation conditions.
In this embodiment, the difference between the real-time torque and the correction torque in each time period is obtained respectively, and n equal-division discretization processing is performed on each time period according to the difference to obtain corresponding discretization processing results, so that n equal-division discretization processing is implemented, so that the moment of inertia of the servo system is obtained according to the discretization processing results.
Based on the above embodiments:
as a preferred embodiment, obtaining the moment of inertia of the servo system according to the discretization result includes:
superposing and processing each discretization processing result;
and obtaining the difference value of each discretization result after superposition processing to obtain the moment of inertia.
It will be appreciated that discretization results were obtained in the above embodiments. In order to obtain the moment of inertia from the discretization result, the following steps are required:
firstAnd superposing the discretization processing results. Specifically, in the present embodiment, the time periods are respectively Δt 1 And DeltaT 2 For example, ΔT is obtained by the discretization processing of the above embodiment 1 And DeltaT 2 In the present embodiment, the time periods Δt are respectively set as the discretization processing results 1 And DeltaT 2 And superposing the discretization processing results. Further, the post-superposition DeltaT is obtained 1 And DeltaT 2 The difference of the discretization processing results below obtains the moment of inertia:
wherein omega 1n Is delta T 1 Angular rotor speed, ω, at the end of a time period 10 Is delta T 1 Angular rotor speed, ω, at the beginning of the time period 20 Is delta T 2 Angular rotor speed, ω, at the beginning of the time period 2n Is delta T 2 Rotor angular velocity at the end of time period, T e1i Is delta T 1 Within a time period, each DeltaT 1 Inertia in/n period, T e2i Represents each DeltaT 2 Inertia in/n cycles, Δt represents the selected time interval, Δt=Δt 1 ＝ΔT 2 。
In this embodiment, by performing superposition processing on each discretization processing result, a difference value of each discretization processing result after superposition processing is obtained, and finally, the acquisition of moment of inertia is realized.
As shown in fig. 2, as a preferred embodiment, before the plurality of time periods are acquired through the preset sampling period, the method further includes:
s17: judging whether the servo system responds or not; if yes, go to step S10; if not, the process proceeds to step S18.
S18: wait for a preset period, and return to step S17.
It will be appreciated that in order to determine whether the system is responding before the servo system response phase, so as to obtain the moment of inertia later, in this embodiment, before obtaining a plurality of time periods through a preset sampling period, it is first determined whether the servo system is responding. If the system response is determined, automatically selecting a plurality of time intervals through a preset sampling period; if the system does not respond, the system automatically delays for waiting, and then judges whether the servo system responds again after a preset period until the system responds and a time interval can be selected, so that the judgment on whether the moment of inertia can be obtained is realized.
As a preferred embodiment, after controlling the q-axis current and the real-time torque of the servo system according to the moment of inertia, further comprising:
s19: and outputting information of the real-time torque of the servo system.
Further, by obtaining the moment of inertia, the q-axis current and the real-time torque of the servo system can be controlled according to the moment of inertia, thereby realizing accurate control of the servo system. In order to enable the user to know the real-time state of the precisely controlled servo system in real time, the information of the real-time torque of the servo system needs to be output so as to prompt the user of the real-time torque of the servo system at the moment, and accordingly adjustment or control is carried out.
The present application will be further described in detail below with reference to fig. 3 in order to enable those skilled in the art to better understand the technical solutions of the present application. Fig. 3 is a schematic diagram of an inertia recognition method of an ac servo system according to an embodiment of the present application. As shown in fig. 3, delta T is respectively calculated in time period 1 And DeltaT 2 For example, the method comprises the following specific steps:
when the servo system is determined to be in a response phase, the disturbance torque observer generates a disturbance torque corresponding to the original quadrature currentPerforming first-order low-pass filtering to eliminate high-frequency noise and obtain corrected current i q 。
The system obtains rotor position signal theta by rotating the encoder signal e Through observer gain c 1 And c 2 Obtaining disturbance torque
By disturbance of torqueWith torque constant K L Conversion to obtain compensation current i qem 。
The system obtains the load torque correction torque through calculation
The torque sensor of the servo system sends the real-time electromagnetic torque T of the servo motor e Transmitting to a main control system;
computing system pair delta T 1 And DeltaT 2 Discretizing n equal parts in time; calculating J in each time interval according to a servo system operation equilibrium equation m +J L . The running equilibrium equation is specifically:
wherein J m For the moment of inertia of the rotor of the servo motor, J L To load moment of inertia omega r The real-time rotating speed of the servo system is obtained.
Master control system pair delta T 1 And DeltaT 2 Performing iterative processing on the calculation results of the two time intervals to obtain:
therefore, the rotational inertia of the system is calculated, and the identification process of the rotational inertia of the whole system is completed.
And finally, controlling the q-current and the real-time torque T of the servo system according to the identified moment of inertia so as to reduce the torque fluctuation of the alternating current servo system and improve the response of the system.
In the above embodiment, the method for identifying inertia of the ac servo system is described in detail, and the application further provides a corresponding embodiment of the apparatus for identifying inertia of the ac servo system. It should be noted that the present application describes an embodiment of the device portion from two angles, one based on the angle of the functional module and the other based on the angle of the hardware structure.
Fig. 4 is a schematic structural diagram of an inertia recognition device of an ac servo system according to an embodiment of the present application. As shown in fig. 4, the ac servo inertia recognition apparatus includes:
a first obtaining module 10, configured to obtain, in a response phase of the servo system, a plurality of time periods through a preset sampling period; wherein, each time period is the same and smaller than a preset sampling period.
The second acquisition module 11 is used for acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque.
A third acquisition module 12 for acquiring a disturbance torque based on the q-axis current and the rotor position signal.
A fourth obtaining module 13, configured to obtain a correction torque according to the real-time torque and the disturbance torque.
The discretization processing module 14 is configured to perform n equal-part discretization processing on each time period according to a preset sampling period and a correction torque, so as to obtain a discretization processing result; wherein n is a positive integer greater than 1.
And a fifth obtaining module 15, configured to obtain the moment of inertia of the servo system according to the discretization result.
In this embodiment, the inertia recognition device of the ac servo system includes a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module, a discretization processing module, and a fifth acquisition module. In a servo system response stage, acquiring a plurality of time periods through a preset sampling period; wherein, each time period is the same and smaller than a preset sampling period; acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque; obtaining disturbance torque according to the q-axis current and the rotor position signal; obtaining a correction torque according to the real-time torque and the disturbance torque; performing n equal-part discretization processing on each time period according to a preset sampling period and correction torque to obtain discretization processing results; wherein n is a positive integer greater than 1; and acquiring the moment of inertia of the servo system according to the discretization processing result. Therefore, the time interval is selected in the system response stage, so that the problems of long time span and large limitation of acceleration and deceleration inertia identification are solved; meanwhile, real-time observation of disturbance torque is increased, reliability of load inertia identification is improved, and accurate control of a servo system is further achieved.
Fig. 5 is a schematic structural diagram of another inertia recognition device for an ac servo system according to an embodiment of the present application. As shown in fig. 5, the ac servo inertia recognition apparatus includes:
a memory 20 for storing a computer program.
A processor 21 for carrying out the steps of the method of ac servo inertia recognition as mentioned in the above embodiments when executing a computer program.
The inertia recognition device of the ac servo system provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, DSP), a Field programmable gate array (Field-Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Array, PLA). The processor 21 may also comprise a main processor, which is a processor for processing data in an awake state, also called central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with a graphics processor (Graphics Processing Unit, GPU) for use in connection with rendering and rendering of content to be displayed by the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, where the computer program, when loaded and executed by the processor 21, can implement the relevant steps of the method for identifying inertia of an ac servo system disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202, data 203, and the like, where the storage manner may be transient storage or permanent storage. The operating system 202 may include Windows, unix, linux, among others. The data 203 may include, but is not limited to, data related to an ac servo inertia identification method.
In some embodiments, the inertia recognition device of the ac servo system may further include a display 22, an input/output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.
It will be appreciated by those skilled in the art that the configuration shown in FIG. 5 is not limiting of the AC servo inertia recognition device and may include more or fewer components than shown.
In this embodiment, the inertia recognition device of the ac servo system includes a memory and a processor. The processor is arranged to execute the steps of the method of ac servo inertia recognition as mentioned in the above embodiments when executing the computer program. In a servo system response stage, acquiring a plurality of time periods through a preset sampling period; wherein, each time period is the same and smaller than a preset sampling period; acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque; obtaining disturbance torque according to the q-axis current and the rotor position signal; obtaining a correction torque according to the real-time torque and the disturbance torque; performing n equal-part discretization processing on each time period according to a preset sampling period and correction torque to obtain discretization processing results; wherein n is a positive integer greater than 1; and acquiring the moment of inertia of the servo system according to the discretization processing result. Therefore, the time interval is selected in the system response stage, so that the problems of long time span and large limitation of acceleration and deceleration inertia identification are solved; meanwhile, real-time observation of disturbance torque is increased, reliability of load inertia identification is improved, and accurate control of a servo system is further achieved.
Finally, the application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.
It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium for performing all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In this embodiment, a computer program is stored on a computer readable storage medium, and when the computer program is executed by a processor, the steps described in the above method embodiments are implemented. In a servo system response stage, acquiring a plurality of time periods through a preset sampling period; wherein, each time period is the same and smaller than a preset sampling period; acquiring the q-axis current of the input three-phase current subjected to d-q transformation, and acquiring a rotor position signal and real-time torque; obtaining disturbance torque according to the q-axis current and the rotor position signal; obtaining a correction torque according to the real-time torque and the disturbance torque; performing n equal-part discretization processing on each time period according to a preset sampling period and correction torque to obtain discretization processing results; wherein n is a positive integer greater than 1; and acquiring the moment of inertia of the servo system according to the discretization processing result. Therefore, the time interval is selected in the system response stage, so that the problems of long time span and large limitation of acceleration and deceleration inertia identification are solved; meanwhile, real-time observation of disturbance torque is increased, reliability of load inertia identification is improved, and accurate control of a servo system is further achieved.
The inertia identification method, the inertia identification device and the medium of the alternating current servo system provided by the application are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (7)
1. An inertia identification method for an ac servo system, comprising:
in a servo system response stage, acquiring a plurality of time periods through a preset sampling period; wherein, each time period is the same and smaller than the preset sampling period;
acquiring the three-phase current of the inputChangeable->Shaft current, and acquiring rotor position signals and real-time torque;
according to the describedAcquiring disturbance torque by shaft current and the rotor position signal; said->The specific process of obtaining the disturbance torque by the shaft current and the rotor position signal comprises the following steps:
；
wherein the method comprises the steps ofFor electrical angular velocity>For the rotor position signal, < > for>And->For disturbance torque observer gain, +.>Is torque constantCount (n)/(l)>For mechanical angular velocity>For the moment of inertia of the servo system, +.>For the disturbance torque, +.>For the input three-phase current to pass->Said->Correcting current obtained by filtering the shaft current;
obtaining a correction torque according to the real-time torque and the disturbance torque;
performing n equal-part discretization processing on each time period according to the preset sampling period and the correction torque to obtain discretization processing results; wherein n is a positive integer greater than 1; the performing n equal-divided discretization processing on each time period according to the preset sampling period and the correction torque includes: respectively obtaining the difference value of the real-time torque and the correction torque in each time period; performing n equal-part discretization processing on each time period according to the difference value to obtain each corresponding discretization processing result;
acquiring the moment of inertia of the servo system according to the discretization result; wherein, the obtaining the moment of inertia of the servo system according to the discretization result includes: superposing the discretization processing results; and obtaining the difference value of each discretization result after superposition processing to obtain the moment of inertia.
2. The alternating current servo system inertia identification method according to claim 1, further comprising, after the acquiring of the moment of inertia of the servo system according to the discretization result:
controlling the servo system based on the moment of inertiaShaft current and said real-time torque.
3. The ac servo inertia identification method according to claim 1 or 2, further comprising, before the acquiring the plurality of time periods by the preset sampling period:
judging whether the servo system responds or not;
if yes, entering the step of acquiring a plurality of time periods through a preset sampling period;
if not, waiting for a preset period, and returning to the step of judging whether the servo system responds.
4. An ac servo system inertia recognition method according to claim 3, wherein in said controlling said servo system according to said moment of inertiaAfter the shaft current and the real-time torque, further comprising:
and outputting information of the real-time torque of the servo system.
5. An ac servo inertia recognition device, comprising:
the first acquisition module is used for acquiring a plurality of time periods through a preset sampling period in a servo system response stage; wherein, each time period is the same and smaller than the preset sampling period;
a second acquisition module for acquiring the three-phase currentChangeable->Shaft current, and acquiring rotor position signals and real-time torque;
a third acquisition module for, according to theAcquiring disturbance torque by shaft current and the rotor position signal; said->The specific process of obtaining the disturbance torque by the shaft current and the rotor position signal comprises the following steps:
；
wherein the method comprises the steps ofFor electrical angular velocity>For the rotor position signal, < > for>And->For disturbance torque observer gain, +.>Is torque constant +.>For mechanical angular velocity>For the moment of inertia of the servo system, +.>For the disturbance torque, +.>For the input three-phase current to pass->Said->Correcting current obtained by filtering the shaft current;
the fourth acquisition module is used for acquiring correction torque according to the real-time torque and the disturbance torque;
the discretization processing module is used for carrying out n equal-part discretization processing on each time period according to the preset sampling period and the correction torque so as to obtain discretization processing results; wherein n is a positive integer greater than 1; the performing n equal-divided discretization processing on each time period according to the preset sampling period and the correction torque includes: respectively obtaining the difference value of the real-time torque and the correction torque in each time period; performing n equal-part discretization processing on each time period according to the difference value to obtain each corresponding discretization processing result;
a fifth obtaining module, configured to obtain a moment of inertia of the servo system according to the discretization result; wherein, the obtaining the moment of inertia of the servo system according to the discretization result includes: superposing the discretization processing results; and obtaining the difference value of each discretization result after superposition processing to obtain the moment of inertia.
6. An ac servo inertia recognition device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the ac servo system inertia identification method according to any one of claims 1 to 4 when executing the computer program.
7. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the ac servo inertia identification method according to any one of claims 1 to 4.
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