CN115425892B - Method for identifying rotational inertia of motor and device adopting method - Google Patents
Method for identifying rotational inertia of motor and device adopting method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/143—Inertia or moment of inertia estimation
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Abstract
The application is suitable for the technical field of motor control, and provides a method for identifying the rotational inertia of a motor and a device adopting the method. And the speed feedforward module is used for outputting a proportional parameter according to the position instruction to adjust the speed instruction output by the position loop control module. Therefore, the acceleration control of the position control can be accelerated and decelerated uniformly and smoothly to meet the requirement of a motion calculation formula of off-line inertia identification, and the accuracy of an identification result is improved. The device adopting the method, the storage medium and the processor executing the method also have the technical effects.
Description
Technical Field
The application belongs to the technical field of motor control, and particularly relates to a method for identifying rotational inertia of a motor and a device adopting the method.
Background
In the drive control process of the servo motor, the identification accuracy of the rotational inertia of the motor has great influence on the improvement of the control precision and the responsiveness. In the prior art, such as the inertia identification method of application No. 202210095264.4, in the identification stage, the identification result is not accurate due to the control oscillation caused by the inertia mismatch. For another example, in the correlation identification method with application number 202010257839.9, a speed mode is adopted to control the motor, but the speed mode cannot accurately position the rotation position of the motor, and the identification method is very inconvenient in the case that the length of the servo operation track is limited. And the inertia identification method with application number 202210095264.4 adopts position control to calculate the load inertia, but under pure position control, the acceleration and deceleration process of the motor is difficult to smooth, while the motion calculation formula of offline inertia identification needs to be based on the process of smooth acceleration and deceleration motion strictly, and the identification result is difficult to be accurate. The prior art has the defects.
Disclosure of Invention
The application aims to provide a method and a device for identifying the rotational inertia of a motor for a servo controller in a driving system consisting of the servo motor and the servo controller, and aims to solve the technical problem that acceleration change cannot be closer to uniform acceleration and deceleration in a position control mode.
In one aspect, the present application provides a method for identifying a rotational inertia of a motor, the method including the following sequential steps:
s1, establishing a position control model of a motor according to a motor instruction, a motor speed and a motor position relation;
s2, controlling the acceleration of the motor to change stably by adopting a position closed-loop control mode under speed feedforward based on the position control model;
and S3, controlling the motor to accelerate and decelerate back and forth by the acceleration, and collecting motor current to calculate the moment of inertia according to a motor motion equation.
In another aspect, the present application further provides a device for identifying a rotational inertia of a motor using the method, the device including:
the speed feedforward position control module adopts a mathematical model of position control under speed feedforward, so that the speed operation of the servo motor can still be closer to uniform acceleration and deceleration under a position control mode;
the acceleration planning module adjusts the automatic optimization of the inertia in the inertia identification process to obtain a more accurate identification value; avoiding the oscillation generated in the process of controlling the servo motor when the initial inertia is not matched;
and the inertia identification module is used for calculating the rotational inertia of the servo motor in servo control through a motor motion equation.
On the other hand, the application also provides a storage medium, and the storage medium stores a program file capable of realizing the method.
In another aspect, the present application further provides a processor, where the processor is configured to execute a program, where the program executes the method for identifying the rotational inertia of the motor when running.
In order to enable the speed of the motor to run more closely to uniform acceleration and deceleration in a position control mode, a mathematical model of position control under speed feedforward is adopted. And the speed feedforward module is used for outputting a proportional parameter according to the position instruction to adjust the speed instruction output by the position loop control module. Therefore, the acceleration control of the position control can be accelerated and decelerated uniformly and smoothly so as to meet the requirement of a motion calculation formula of off-line inertia identification and improve the accuracy of an identification result. The device adopting the method, the storage medium and the processor executing the method also have the technical effects.
Drawings
Fig. 1 is a diagram illustrating major steps of a method for identifying a rotational inertia of a motor according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of a control model used in an embodiment of the present application;
fig. 3 is a block diagram of a system architecture of a rotational inertia identification apparatus of a motor according to a second embodiment of the present application;
fig. 4 is a schematic diagram illustrating an embodiment of an identification process.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Specific implementations of the present application are described in detail below with reference to specific embodiments:
the first embodiment is as follows:
fig. 1 shows an implementation flow of a method for identifying a rotational inertia of a motor according to a first embodiment of the present application, and for convenience of description, only parts related to the first embodiment of the present application are shown, which is detailed as follows:
the application provides a motor rotational inertia identification method, which is used for accurately identifying the motor rotational inertia for a servo controller in a driving system consisting of the servo motor and the servo controller. The method comprises the following sequential steps:
s1, establishing a position control model of a motor according to a motor instruction, the relationship between the motor speed and the motor position;
s2, controlling the acceleration of the motor to change stably by adopting a position closed-loop control mode under speed feedforward based on the position control model;
and S3, controlling the motor to accelerate and decelerate back and forth by the acceleration, and collecting motor current to calculate inertia according to a motor motion equation.
As shown in fig. 4, the step S3 includes the following sequential processes:
s31, setting the initial acceleration of the motor operation to be less than or equal to one tenth of the maximum acceleration when the identification is started;
s32, controlling the motor to perform back-and-forth acceleration and deceleration, and calculating the real-time inertia of the motor according to the current of the Q axis of the motor recorded in real time in the acceleration and deceleration process;
s33, dividing the real-time rotational inertia by the motor inertia to obtain a rotational inertia ratio, and substituting the rotational inertia ratio into PID control parameters of a position ring and a speed ring;
wherein the substituting process is as follows: new control parameter = rotational inertia ratio original control parameter;
s34, increasing the acceleration of the motor in operation;
s35, judging whether the real-time acceleration is greater than the maximum acceleration, and returning to the step S32 to continue to perform identification if the real-time acceleration is not greater than the maximum acceleration; and if so, stopping identification, and taking the real-time moment of inertia obtained by final calculation as the finally identified moment of inertia.
In implementation, but when the initial inertia is not matched, the control process of the motor is likely to oscillate, which may cause inaccurate or failed recognition. In order to improve the identification precision and the robustness of the identification algorithm, a more accurate identification value needs to be obtained by the strategy of automatically adjusting inertia and automatically optimizing in the steps in the identification process.
Further, the initial acceleration is set to 100rpm/s; the maximum acceleration is set to 1000rpm/s; the increase of the acceleration in the step S34 is 100 rpm/S.
Further, the position control model of step S1 includes: the system comprises a position loop control module, a speed loop control module, an integration module and a speed feedforward module;
the position ring control module is used for inputting a difference value between a position instruction and the position of the motor in the previous period of time as a speed instruction and outputting the speed instruction to the speed ring control module;
the speed feedforward module adjusts the speed instruction output by the position loop control module according to the position instruction output proportion parameter, so that the acceleration changes stably;
the speed loop control module executes the adjusted speed instruction and outputs the real-time motor speed to the integral module;
and the integration module processes the real-time motor speed into a real-time motor position and feeds the real-time motor position back to the position loop control module.
The control model shown in fig. 2, wherein,
inputting a command of the position loop control module, wherein the command is a numerical value representing the position of the motor, and the motor can operate to a corresponding position according to the numerical value;
the position feedback is the real-time motor position fed back by the integration module, and the position is also a numerical value. 1/s denotes an integration block. The signal from the speed loop control module is the real-time motor speed of the servo motor for executing the instruction, and the real-time servo motor position is calculated by the integral module and fed back to the position loop control module.
The known speed loop control module and the position loop control module both adopt PID control, wherein the speed loop control module adopts proportional-integral control, and the position loop control module adopts proportional control.
When the transfer function of the controller of the speed feedforward module is made to be
Wherein
the laplace transform of s time t in the frequency domain for the proportionality coefficient of the velocity feedforward transfer function; the closed loop PI transfer function of the speed loop control module is
Wherein
for the scaling factor of the velocity loop transfer function,
is the integral coefficient of the velocity loop transfer function; closed loop P transfer function of position loop control module
Has a proportional gain of
Time, corresponding position loop closed loop transfer function
The following were used:
from the above, the best result is that
For any input, there are
. I.e. input equals output. Because the control command input by the position loop control module is given by the user, the control command is a fixed value. The position loop control module is purely proportional control, namely the output is the fixed value multiplied by the proportional gain
. So when the feedforward is given at a maximum value (i.e., 100), the incremental value output from the position loop to the speed command is the speed feedforward value.
And because the proportional gain of the position loop control module is 1.5 times of the proportional gain of the speed loop control module in the PID debugging experience of the servo control. After the above feed forward, the position loop control module may be too strong and oscillate, thereby reducing the strength of the position loop, and making the proportional gain of the position loop control module 0.5 times that of the speed loop control module. Therefore, under the condition that the position loop control module controls stably, the added value of the speed instruction output by the position loop control module is fed forward for the speed directly given, namely the motor can accelerate stably.
Further, the motor motion equation is as follows:
wherein,
in order to be the moment of inertia,
is the differential of the mechanical rotating speed of the motor,
in order to be an electromagnetic torque,
the load torque is represented by t, which is time.
Further, the specific process of step S32 includes:
s321, performing uniform acceleration operation with fixed acceleration between the point A and the point B, and performing Q-axis current on the motor at the stage
Integral and then multiplied by a torque constant
Obtaining the integral of the electromagnetic torque in the acceleration phase:
；
wherein
For the torque coefficient of the motor with the test moment of inertia,
the time required for the acceleration phase;
s322, performing uniform deceleration motion with fixed acceleration between a point B and a point C with the same length as the point A to the point B, and obtaining the Q-axis current of the motor at the stage
Integral and then multiplied by a torque constant
I.e. obtaining the integral of the electromagnetic torque during the deceleration phase:
；
wherein
The time required for the deceleration phase;
s323, obtaining the values through the first two steps, and enabling the maximum value of the speed between the point A and the point C to be
After the uniform acceleration and uniform deceleration, calculating to obtain the rotational inertia of the motor as follows:
in order to protect the controlled machine from being out of range, a user needs to adopt a position control mode when performing offline inertia identification. In order to enable the servo motor to run more closely to uniform acceleration and deceleration in a position control mode, a mathematical model of position control under speed feedforward is adopted. In the control, the feed forward speed parameter is given to 100, and the position loop proportional gain is reduced to half of the speed loop proportional gain. By calculating the transfer function, the speed instruction output by the position loop control can be increased smoothly by increasing the proportional parameter of the speed feedforward, and the speed instruction can be accelerated uniformly as the direct speed mode control.
When the inertia is not matched, the control may cause the operation of the servo motor to vibrate, resulting in inaccurate results of subsequent identification of the inertia or failure of identification. In order to improve the identification precision and the robustness of an identification algorithm, a strategy of automatically adjusting inertia and automatically optimizing is adopted in the inertia identification process or a more accurate identification value is obtained. The method is characterized in that a small acceleration is adopted when identification is started, so that the speed is more stable, a rotational inertia ratio is set after an identification result is obtained, identification is continued according to the set rotational inertia ratio, and meanwhile, the acceleration value is increased. Repeating the steps for multiple times until the acceleration value reaches the set maximum value, and finishing accurate inertia identification.
Example two:
fig. 3 shows a basic architecture of a rotational inertia identification apparatus of a motor provided in the second embodiment of the present application, and for convenience of description, only the portions related to the second embodiment of the present application are shown.
A rotational inertia identification apparatus for an electrical machine using the method of any one of the preceding claims, the apparatus comprising:
the speed feedforward position control module adopts a mathematical model of position control under speed feedforward, so that the speed operation of the servo motor can still be closer to uniform acceleration and deceleration under a position control mode; in the case of calculating the transfer function, the ratio of the transfer function can be increased by increasing the proportional parameter of the speed feedforward, so that the speed command output by the position loop control is increased smoothly and accelerated as in the direct speed mode control.
The acceleration planning module adjusts the automatic optimization of the inertia in the inertia identification process to obtain a more accurate identification value; avoiding the oscillation generated in the process of controlling the servo motor when the initial inertia is not matched;
in specific implementation, when the initial rotational inertia is not matched (that is, the actual rotational inertia is not known before the initial identification, but an initial value is given, which is the initial rotational inertia and the actual value are not equal), the control process may cause the servo motor to oscillate, which may cause inaccurate identification or failed identification of the subsequent inertia. In order to improve the identification precision and the robustness of the identification algorithm, a strategy of automatically adjusting inertia and automatically optimizing is needed to obtain a more accurate identification value in the identification process.
And the inertia identification module is used for calculating the rotational inertia of the servo motor in servo control through a motor motion equation.
Further, the apparatus further comprises:
the module for monitoring speed vibration is connected with the inertia identification module, and when the speed vibration of the servo motor exceeds a limit value, the inertia identification is stopped and an error is reported; thereby increasing the reliability of the recognition result.
Example three:
in a third embodiment of the present invention, a storage medium is provided, where a program file capable of implementing any method for identifying a rotational inertia of a motor is stored in the storage medium.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
Example four:
the processor provided by the fourth embodiment of the present application is configured to execute a program, where the program executes the method for identifying the rotational inertia of the motor when running.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. A method for identifying the rotational inertia of a motor, the method comprising the sequential steps of:
s1, establishing a position control model of a motor according to a motor instruction, a motor speed and a motor position relation;
s2, controlling the acceleration of the motor to change stably by adopting a position closed-loop control mode under speed feedforward based on the position control model;
s3, controlling the motor to perform back-and-forth acceleration and deceleration by the acceleration, and collecting motor current to calculate the moment of inertia according to a motor motion equation;
the step S3 includes the following sequential steps:
s31, setting the initial acceleration of the motor operation to be less than or equal to one tenth of the maximum acceleration when the identification is started;
s32, controlling the motor to perform back-and-forth acceleration and deceleration, and calculating the real-time inertia of the motor according to the current of the Q axis of the motor recorded in real time in the acceleration and deceleration process;
s33, dividing the real-time rotational inertia by the motor inertia to obtain a rotational inertia ratio, and substituting the rotational inertia ratio into PID control parameters of a position ring and a speed ring;
s34, increasing the acceleration of the motor in operation;
s35, judging whether the real-time acceleration is larger than the maximum acceleration or not, and if not, returning to the step S32 to continue to execute identification; if the current moment is larger than the preset moment, stopping identification, and taking the real-time moment of inertia obtained through final calculation as the moment of inertia finally identified;
the initial acceleration is set to 100rpm/s; the maximum acceleration is set to 1000rpm/s; the increase of the acceleration in the step S34 is 100 rpm/S.
2. The method of claim 1, wherein the position control model of step S1 comprises: the system comprises a position loop control module, a speed loop control module, an integration module and a speed feedforward module;
the position ring control module is used for inputting a difference value between a position instruction and the position of the motor in the previous period of time as a speed instruction and outputting the speed instruction to the speed ring control module;
the speed feedforward module adjusts the speed instruction output by the position loop control module according to the position instruction output proportion parameter, so that the acceleration changes stably;
the speed loop control module executes the adjusted speed instruction and outputs the real-time motor speed to the integration module;
and the integration module processes the real-time motor speed into a real-time motor position and feeds the real-time motor position back to the position loop control module.
3. The method of claim 1, wherein the motor equation of motion is:
wherein,
in order to be the moment of inertia,
the rotation speed of the motor is the mechanical rotation speed,
in order to be an electromagnetic torque,
the load torque is denoted by t as time.
4. The method according to claim 3, wherein the specific process of step S32 includes:
s321, performing uniform acceleration operation with fixed acceleration between a point A and a point B, and performing Q-axis current on the motor at the stage
Integral and then multiplied by a torque constant
Obtaining the integral of the electromagnetic torque in the acceleration phase:
wherein,
the time required for the acceleration phase;
s322, performing uniform deceleration motion with fixed acceleration between a point B and a point C with the same length as the point A to the point B, and obtaining the Q-axis current of the motor at the stage
Integral and then multiplied by a torque constant
I.e. obtaining the integral of the electromagnetic torque during the deceleration phase:
；
wherein,
in order to be able to reduce the time required for the deceleration phase,
for the electromagnetic torque in the deceleration phase,
q-axis current for the deceleration phase;
s323, obtaining the values through the first two steps, and enabling the maximum value of the speed between the point A and the point C to be
After the uniform acceleration and uniform deceleration, calculating to obtain the rotational inertia of the motor as follows:
5. an apparatus for identifying a rotational inertia of a motor using the method according to any one of claims 1 to 4, the apparatus comprising:
the speed feedforward position control module adopts a mathematical model of position control under speed feedforward, so that the speed operation of the servo motor can be closer to uniform acceleration and deceleration under a position control mode;
the acceleration planning module adjusts the automatic optimization of the inertia in the inertia identification process to obtain a more accurate identification value; avoiding initial inertia mismatching;
and the inertia identification module is used for calculating the rotational inertia of the servo motor in servo control through a motor motion equation.
6. The apparatus of claim 5, further comprising:
and the monitoring speed vibration module is connected with the inertia identification module, and stops inertia identification and reports an error when monitoring that the speed vibration of the servo motor exceeds a limit value.
7. A storage medium storing a program file capable of implementing the method for identifying a rotational inertia of a motor according to any one of claims 1 to 4.
8. A processor, characterized in that the processor is configured to run a program, wherein the program is executed to execute the method for identifying the rotational inertia of an electric machine according to any one of claims 1 to 4.
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| JPH08140386A (en) * | 1994-11-08 | 1996-05-31 | Fanuc Ltd | Method for estimating inertia of servo motor |
| WO2006075554A1 (en) * | 2005-01-11 | 2006-07-20 | Kabushiki Kaisha Yaskawa Denki | Motor control device and control method thereof |
| JP4553158B2 (en) * | 2005-10-18 | 2010-09-29 | 株式会社安川電機 | Motor control apparatus and method |
| JP2007259640A (en) * | 2006-03-24 | 2007-10-04 | Yaskawa Electric Corp | Motor control device |
| CN201527326U (en) * | 2009-09-11 | 2010-07-14 | 上海新时达电气股份有限公司 | Rotary inertia identifier of alternating current permanent magnetic synchronous motor servo system |
| CN104639003B (en) * | 2013-11-06 | 2017-07-28 | 沈阳高精数控智能技术股份有限公司 | A kind of method for identification of rotational inertia of AC servo |
| CN103684193B (en) * | 2014-01-07 | 2016-01-13 | 南京埃斯顿自动化股份有限公司 | A kind of AC servo attitude conirol method |
| JP6751615B2 (en) * | 2016-07-20 | 2020-09-09 | 日本電産サンキョー株式会社 | Motor system |
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