CN118214316A - Delay control method and device of motor control system - Google Patents
Delay control method and device of motor control system Download PDFInfo
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Abstract
The application provides a delay control method and a delay control device of a motor control system, wherein the method comprises the following steps: constructing a current loop discrete model with time delay; establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor, and optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller; dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current; and inputting the optimized PI parameters and the compensation current into the direct current motor digital control system to optimize the delay of the direct current motor digital control system. The application solves the problem that the system can not stably run due to higher delay of the motor control system in the prior art.
Description
Technical Field
The application relates to the technical field of motor control of new energy automobiles, in particular to a delay control method and a delay control device of a motor control system.
Background
The accuracy, flexibility, adjustability, ability to implement complex control algorithms, and programmability and automation characteristics of digital controllers make them the primary choices in motor control. Therefore, the controller of the direct current motor is generally a digital controller.
In digital control systems, however, there is often a delay. Specifically, an input signal is sampled to obtain a corresponding digital signal, and a certain time delay is required in the process; the sampled signal needs to be subjected to digital signal processing such as filtering, algorithm operation and the like, and certain time delay is generated in the process; the digital control system needs to calculate a control signal according to the input signal and the current state, and certain delay is generated by algorithm operation in the process; in PWM control, the trigger signal of the switching device is obtained by comparing the carrier wave with the modulated wave, usually at the intersection of the carrier wave and the modulated wave, and therefore the trigger signal cannot be emitted at the start of the period, thereby generating a delay.
In engineering applications and theoretical studies, it is rarely considered whether the digital controller delay has an impact on system performance and the relationship between them. When the sampling rate of the digital control system is high, the delay of the digital system is small and can be ignored, but when the sampling rate of the digital control system is low, the delay of the digital control system has a large influence on the system, and even the system cannot stably run.
Disclosure of Invention
The embodiment of the application provides a delay control method and a delay control device for a motor control system, which aim to solve the problem that the system cannot stably operate due to higher delay of the motor control system in the prior art.
In a first aspect, an embodiment of the present application provides a delay control method of a motor control system, which is applied to an upper computer, where the upper computer is connected with a digital control system of a dc motor in a communication manner, and the method includes:
constructing a current loop discrete model with time delay;
Establishing a transfer function of a PI controller corresponding to a current loop of a direct current motor, and optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller, wherein the PI parameters at least comprise PI controller proportional term parameter values and PI controller integral term parameter values;
Dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current, wherein the current amplitude and sign correspondence table reflects the amplitude characteristics of three-phase current and the sign characteristics of corresponding cosine function;
And inputting the optimized PI parameters and the compensation current into the direct current motor digital control system to optimize the delay of the direct current motor digital control system.
In a second aspect, an embodiment of the present application provides a delay control device of a motor control system, which is applied to a host computer, where the host computer is connected with a digital control system of a dc motor in a communication manner, and the delay control device of the motor control system includes:
the model building unit is used for building a current loop discrete model with time delay;
The PI optimizing unit is used for establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor, optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller, wherein the PI parameters at least comprise proportional term parameter values of the PI controller and integral term parameter values of the PI controller;
The compensation unit is used for dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current, wherein the current amplitude and sign correspondence table reflects the amplitude characteristics of three-phase current and the sign characteristics of corresponding cosine function;
And the output unit is used for inputting the optimized PI parameter and the compensation current into the direct current motor digital control system so as to optimize the delay of the direct current motor digital control system.
In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the computer program to implement the delay control method of the motor control system described in the first aspect.
In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, where the computer program when executed by a processor causes the processor to execute the delay control method of the motor control system described in the first aspect.
The embodiment of the application provides a delay control method and a delay control device of a motor control system, wherein a current loop discrete model with time delay is constructed firstly; then, establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor, and optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller; dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current; and finally, inputting the optimized PI parameters and the compensation current into the direct current motor digital control system to optimize the delay of the direct current motor digital control system. And on one hand, the dynamic performance of the control system can be improved through the design of the discrete PI controller, and on the other hand, the compensation current of the control system is optimized through the calculation of the compensation current, so that the aim of reducing the inherent delay influence of the motor digital control system is finally achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a delay control method of a motor control system according to an embodiment of the present application;
fig. 2 is a flow chart of a delay control method of a motor control system according to an embodiment of the present application;
fig. 3 is a current sampling timing chart of a starting time of a PWM period in the delay control method of the motor control system according to the embodiment of the present application;
fig. 4 is a current sampling timing chart at a midpoint of a PWM period in the delay control method of the motor control system according to the embodiment of the present application;
fig. 5 is a schematic diagram of duty ratio output of a PWM inverter in a delay control method of a motor control system according to an embodiment of the present application;
Fig. 6 is a schematic diagram of an output average voltage corresponding to a PWM inverter in a delay control method of a motor control system according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a sub-flowchart of a delay control method of a motor control system according to an embodiment of the present application;
FIG. 8 is a schematic diagram of another sub-flowchart of a delay control method of a motor control system according to an embodiment of the present application;
Fig. 9 is a schematic diagram of normalized three-phase current in the delay control method of the motor control system according to the embodiment of the present application;
fig. 10 is a schematic block diagram of a delay control device of a motor control system according to an embodiment of the present application;
Fig. 11 is a schematic block diagram of a computer device 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 fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of an application scenario of a delay control method of a motor control system according to an embodiment of the present application; fig. 2 is a flow chart of a delay control method of a motor control system according to an embodiment of the present application, where the delay control method of the motor control system is applied to a server (which may also be understood as an upper computer) and the server is communicatively connected to a digital control system of a dc motor.
As shown in FIG. 2, the method includes steps S110 to S140.
S110, constructing a current loop discrete model with time delay.
In this embodiment, the motor controlled object with digital inherent delay is subjected to discretization, specifically, as shown in fig. 3 and fig. 4, fig. 3 and fig. 4 respectively show two current sampling timings, fig. 3 is current sampling at the start time of each PWM period, and fig. 4 is current sampling at the midpoint time of each PWM period. In fig. 3, the kth cycle current sampling occurs at kT c, the duty cycle update occurs at (k+1) T c, in fig. 4, the previous PWM duty cycle output d (k-1) is updated at the kth-1 cycle start time (k-1) T c, and the current sampling i (k-1) is performed and held at the carrier cycle midpoint (k-0.5) T c . The kth cycle start time kT c, the system uses the sampled value to perform the current regulator operation, but needs to wait until the next cycle start (k+1) T c to update the PWM duty cycle output signal d (k+1), so that the current sampling delay time for current sampling at the midpoint of the PWM cycle and at the PWM cycle start time can be obtainedThe method comprises the following steps of:
，
Further, in the digital control system of the dc motor, the output of the PWM inverter may have a certain time delay compared to a given input signal. As shown in fig. 5 and 6, fig. 5 and 6 are diagrams of duty cycle output and corresponding output average voltage values of the PWM inverter module, respectively. As can be seen from fig. 5 and 6, the ratio of the PWM inverter output voltage time to the total period is greater than 0 and less than 1, and thus the generated output delay is also within this range, wherein the ordinate in fig. 6 is the average value of the output voltage, the abscissa is the value of the PWM interrupt time, and V dc represents the inverter dc bus voltage amplitude. For simplicity of calculation, it is equivalent to a value of 0.5 And (3) performing analysis and calculation on the hysteresis link of the model (C). In one sampling period, the total delay of the digital system is equal to the current loop sampling delay plus the output delay of the inverter, so the delay time of current sampling at the starting moment of the PWM period and the delay time of current sampling at the midpoint moment are respectively as follows:
，
thus, a current loop discrete model with time delay is obtained.
S120, establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor, and optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller, wherein the PI parameters at least comprise proportional term parameter values of the PI controller and integral term parameter values of the PI controller.
In this embodiment, the magnitude of the PI controller proportional term parameter value and the PI controller integral term parameter value directly affect the dynamic response capability of the control system, where the greater the ratio of the PI controller proportional term parameter value to the PI controller integral term parameter value, the stronger the dynamic response capability of the system.
Optionally, referring to fig. 7, the step S120 specifically includes:
S121, establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor;
S122, converting the transfer function based on an improved z-transformation principle to generate a frequency response function of the PI controller;
S123, generating a PI parameter calculation formula of the PI controller based on the expected phase margin and the frequency response function of the PI controller;
s124, calculating the optimized PI parameters based on the current loop discrete model with time delay and the PI parameter calculation formula.
In this embodiment, the PI controller to be designed for the galvanic current loop is actually a special phase lag controller. Therefore, the transfer function of the PI controller is first established, specifically:
，
Wherein, Is proportional term parameter value of PI controller,/>Integrating term parameter values for PI controller,/>As a frequency variable in complex function,/>And/>Is the gain ratio of the PI controller.
Then, according to the z transformation principle, the transfer function of the PI controller is subjected to z transformation, and the actual PI controller in the z domain is as follows:
，
where T is the sampling period.
Thus, the frequency response formula of the PI controller can be obtained as:
，
Where θ is the value of the phase-frequency response of the input signal after passing through the PI controller, The input signal frequency, j, is the imaginary unit of the input signal.
After the frequency response formula of the PI controller is obtained, the expected phase margin is obtainedAnd the corresponding frequency is/>(Wherein, phase margin/>)The specific value of (2) needs to be dynamically debugged in combination with the actual situation, and is generally 30-60; phase margin/>Corresponding frequency/>Then the bandwidth of the closed loop system is designed, for example, the current loop closed loop bandwidth of the PI controller is 500rad/s, then the phase margin/>Corresponding frequency/>Taking 500rad/s, of course the specific value will also need to be adjusted in conjunction with the actual situation), can be adjusted by the desired phase margin/>And the corresponding frequency is/>And obtaining a PI parameter calculation formula of the PI controller through formula conversion, and finally obtaining an optimized PI parameter based on the PI parameter calculation formula, so that the dynamic response capability of the control system can be optimized by replacing the parameter of the PI controller with the optimized PI parameter.
Optionally, the step S124 specifically includes:
Acquiring the actual frequency response of the digital control system of the direct current motor based on the current loop discrete model with time delay;
acquiring a desired motor rotation angle based on the desired phase margin;
And calculating the optimized PI parameter based on the actual frequency response of the direct current motor digital control system and the expected motor rotation angle.
In this embodiment, the actual frequency response of the digital control system of the dc motor is obtained based on the time-delayed current loop discrete model, that is, the current sampling delay time T p of the control system, and then the desired phase margin is obtained asThe corresponding frequency is/>Thereafter, based on the desired phase margin, is/>When the desired motor rotation angle θ is obtained, then, inThe method comprises the following steps:
，
Wherein the method comprises the steps of Is the frequency response of the controlled object. The frequency response in combination with the PI controller can be obtained:
，
Combining the above-mentioned availability:
，
therefore, the optimized PI parameter can be obtained by substituting the current sampling delay time T p of the control system into the above formula, and the dynamic response of the control system is optimized by optimizing the PI parameter.
S130, dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current, wherein the current amplitude and sign correspondence table reflects the amplitude characteristics of three-phase current and the sign characteristics of corresponding cosine function.
In this embodiment, in order to further reduce the delay time of the control system, the PI parameter optimization design is performed, and the compensation current design of the control system is performed in parallel, so as to further compensate the delay of the control system.
Optionally, referring to fig. 8, the step S130 specifically includes:
S131, dividing the period of each phase of current of the direct current motor into a plurality of areas, and establishing a current amplitude and sign correspondence table;
S132, carrying out normalization processing on the measured three-phase current of the motor;
S133, comparing the normalized current with the current amplitude and sign correspondence table to determine a phase region to which the normalized current belongs;
s134, calculating the absolute value of a cosine function corresponding to the three-phase current based on the normalized current;
S135, determining a symbol of a cosine function corresponding to the three-phase current based on an absolute value of the cosine function corresponding to the phase region to which the normalized current belongs;
and S136, calculating the compensation current of each phase current of the direct current motor based on the sign of the cosine function.
In this embodiment, the three-phase current measurement value of the motor is normalized, and then the phase area and the cosine function are determined based on the current amplitude and the sign correspondence table, and the compensation current of each phase current of the direct current motor is finally calculated.
Specifically, as shown in fig. 9, which shows a schematic diagram of normalized three-phase currents whose transformation trend is in accordance with the nature of a sine function, the period of the current is divided into six regions according to each phase current and is respectively denoted as Z1 to Z6 (the division of the six phase regions Z1 to Z6 has no practical physical meaning, in each region, three-phase currents exhibit different sign and amplitude characteristics, since any two-phase intersections of sine waves differing by 120 degrees are also apexes of another, the apexes of sine waves coincide with zero-crossings of in-phase cosine waves. Since any two intersecting points of sine waves differing by 120 degrees are also the apexes of the other, the apexes of the sine waves coincide with the zero-crossings of the in-phase cosine waves. Thus, the cosine function corresponding to the three-phase current has different sign and magnitude characteristics in each region. Thus, by establishing a table of current amplitude and sign correspondence, the amplitude characteristics of the sinusoidal current and the sign characteristics of the cosine function used for compensation can be represented as shown in Table 1 below, wherein，/>，/>Respectively the phases of three-phase currents (in particularRepresenting the phase of the A-phase current in the three-phase current,/>Representing the phase of B-phase current in three-phase current,/>Representing the phase of the C-phase current in the three-phase current), fig. 9/>Representing the compensation current:
TABLE 1
Optionally, the step S132 specifically includes:
And acquiring three-phase current measured values of the motor without compensation, d-axis reference current of the motor and q-axis reference current of the motor, and carrying out normalization processing on the three-phase current measured values of the motor without compensation based on a pre-established normalization formula.
In the present embodiment, use is made ofIndicating the measured current value without compensation. Due to the fast response characteristic of the permanent magnet synchronous motor current, the following operation can be adoptedNormalization, i.e. conversion to a standard range between-1 and 1:
，
Wherein, And/>Reference currents of d-axis and q-axis, respectively; /(I)，/>And/>The measured three-phase currents after normalization, respectively.
Optionally, the step S133 is configured to determine a phase region to which the current belongs, specifically, take the measured three-phase current values after normalization as values of a sine function, and correspond to each of ABC three phases:
，
and comparing the current amplitude with a symbol corresponding table to further determine the absolute value of the cosine function corresponding to the three-phase current.
Optionally, the step S134 specifically includes:
and taking the normalized current as a sine function value corresponding to the three-phase current, and calculating the absolute value of a cosine function corresponding to the three-phase current based on a trigonometric function formula.
In this embodiment, a calculation formula is first established:
，
The absolute value of the cosine function can then be calculated based on the above formula, i.e ，/>And/>。
Optionally, the step S135 is configured to determine a sign of the cosine function, specifically, according to the determined phase region and the absolute value of the cosine function, the sign of the cosine function may be determined in the law given in the table of current amplitude and sign correspondence.
Optionally, the step S136 specifically includes:
and establishing a compensation current calculation formula, and calculating the compensation current of each phase current of the direct current motor based on the d-axis reference current of the motor, the q-axis reference current of the motor, the normalized current, the error angle of the motor and the sign of the cosine function.
In this embodiment, a compensation current calculation formula is first established, specifically, the formula is as follows:
，
Wherein: Is the error angle.
And then combining the trigonometric function and the angular formula to calculate the compensation current, wherein the compensation current can well improve the dynamic performance of the motor control system, thereby reducing the delay of the motor control system.
And S140, inputting the optimized PI parameters and the compensation current into the direct current motor digital control system to optimize the delay of the direct current motor digital control system.
In this embodiment, after the optimized PI parameter and the compensation current are obtained at the same time, the PI parameter and the compensation current are input into the control system, so that the delay effect of the digital control system of the direct current motor can be improved by parallel operation, and the purpose of ensuring stable operation of the system is achieved.
Therefore, the embodiment of the method improves the dynamic performance of the control system through the design of the discrete PI controller, optimizes the compensation current of the control system through the calculation of the compensation current, and finally achieves the purpose of reducing the inherent delay influence of the motor digital control system.
It can be understood that the delay control method of the motor control system provided by the embodiment of the application can be applied to occasions with high requirements on performance and control precision, such as the field of medical equipment, the application of a direct current motor in the medical equipment, and the delay control method can be applied to a high-precision surgical robot system, a high-speed centrifugal machine, an accurately controlled infusion pump and the like, and in the scene, the direct discrete domain method and consideration of inherent delay of a digital system are of great significance.
The embodiment of the application also provides a delay control device of the motor control system, which is used for executing any embodiment of the delay control method of the motor control system, and is applied to an upper computer which is in communication connection with a direct current motor digital control system. Specifically, referring to fig. 10, fig. 10 is a schematic block diagram of a delay control device 100 of a motor control system according to an embodiment of the present application.
As shown in fig. 10, the delay control device 100 of the motor control system includes a model building unit 110, a PI optimizing unit 120, a compensating unit 130, and an output unit 140.
The model building unit 110 is used for building a current loop discrete model with time delay.
The PI optimization unit 120 is configured to establish a transfer function of a PI controller corresponding to a current loop of the dc motor, and optimize the transfer function based on the current loop discrete model with time delay by using an improved z-transform principle to optimize PI parameters of the PI controller, where the PI parameters at least include a PI controller proportional term parameter value and a PI controller integral term parameter value.
The compensation unit 130 is configured to divide a period of each phase current of the dc motor into a plurality of areas, and establish a current amplitude and sign correspondence table, and calculate a compensation current of each phase current of the dc motor based on the current amplitude and sign correspondence table and the normalized measured current, where the current amplitude and sign correspondence table reflects amplitude characteristics of three-phase currents and sign characteristics of corresponding cosine functions.
The output unit 140 is configured to input the optimized PI parameter and the compensation current into the digital control system of the dc motor, so as to optimize a delay of the digital control system of the dc motor.
In the embodiment, firstly, a current loop discrete model with time delay is constructed; then, establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor, and optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller; dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current; and finally, inputting the optimized PI parameters and the compensation current into the direct current motor digital control system to optimize the delay of the direct current motor digital control system. And on one hand, the dynamic performance of the control system can be improved through the design of the discrete PI controller, and on the other hand, the compensation current of the control system is optimized through the calculation of the compensation current, so that the aim of reducing the inherent delay influence of the motor digital control system is finally achieved.
It should be noted that, the units referred to in the present invention refer to a series of instruction segments of a computer program capable of performing a specific function, and are more suitable for describing the execution process of the delay control of the motor control system than the program, and the specific implementation manner of each unit is referred to the corresponding method embodiments and will not be repeated herein.
In some embodiments, the PI optimization unit 120 is specifically configured to:
establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor;
Converting the transfer function based on a modified z-transform principle to generate a frequency response function of the PI controller;
Generating a PI parameter calculation formula of the PI controller based on a desired phase margin and a frequency response function of the PI controller;
And calculating the optimized PI parameter based on the current loop discrete model with time delay and the PI parameter calculation formula.
In some embodiments, the calculating the optimized PI parameter based on the current loop discrete model with time delay and the PI parameter calculation formula includes:
Acquiring the actual frequency response of the digital control system of the direct current motor based on the current loop discrete model with time delay;
acquiring a desired motor rotation angle based on the desired phase margin;
And calculating the optimized PI parameter based on the actual frequency response of the direct current motor digital control system and the expected motor rotation angle.
In some embodiments, the compensation unit 130 is specifically configured to:
Dividing the period of each phase of current of the direct current motor into a plurality of areas, and establishing a current amplitude and sign correspondence table;
carrying out normalization processing on the three-phase current of the motor obtained by measurement;
Comparing the normalized current with the current amplitude and sign correspondence table to determine a phase region to which the normalized current belongs;
Based on the normalized current, calculating the absolute value of a cosine function corresponding to the three-phase current;
determining a symbol of a cosine function corresponding to the three-phase current based on an absolute value of the cosine function corresponding to the phase region to which the normalized current belongs;
And calculating the compensation current of each phase current of the direct current motor based on the sign of the cosine function.
In some embodiments, the normalizing the measured three-phase current of the motor includes:
And acquiring three-phase current measured values of the motor without compensation, d-axis reference current of the motor and q-axis reference current of the motor, and carrying out normalization processing on the three-phase current measured values of the motor without compensation based on a pre-established normalization formula.
In some embodiments, calculating the absolute value of the cosine function corresponding to the three-phase current based on the normalized current includes:
and taking the normalized current as a sine function value corresponding to the three-phase current, and calculating the absolute value of a cosine function corresponding to the three-phase current based on a trigonometric function formula.
In some embodiments, the calculating the compensation current of each phase current of the dc motor based on the sign of the cosine function includes:
and establishing a compensation current calculation formula, and calculating the compensation current of each phase current of the direct current motor based on the d-axis reference current of the motor, the q-axis reference current of the motor, the normalized current, the error angle of the motor and the sign of the cosine function.
The delay control means of the above-described motor control system may be implemented in the form of a computer program which can be run on a computer device as shown in fig. 11.
Referring to fig. 11, fig. 11 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 is a host computer or a server.
With reference to fig. 11, the computer device 500 includes a processor 502, a memory, and a network interface 505, which are connected by a device bus 501, where the memory may include a storage medium 503 and an internal memory 504.
The storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032, when executed, may cause the processor 502 to perform a delay control method of a motor control system.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the execution of a computer program 5032 in the storage medium 503, which computer program 5032, when executed by the processor 502, causes the processor 502 to perform a method of delay control of a motor control system.
The network interface 505 is used for network communication, such as providing for transmission of data information, etc. It will be appreciated by those skilled in the art that the structure shown in FIG. 11 is merely a block diagram of some of the structures associated with the present inventive arrangements and does not constitute a limitation of the computer device 500 to which the present inventive arrangements may be applied, and that a particular computer device 500 may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The processor 502 is configured to execute a computer program 5032 stored in a memory, so as to implement the delay control method of the motor control system disclosed in the embodiment of the present application.
Those skilled in the art will appreciate that the embodiment of the computer device shown in fig. 11 is not limiting of the specific construction of the computer device, and in other embodiments, the computer device may include more or less components than those shown, or certain components may be combined, or a different arrangement of components. For example, in some embodiments, the computer device may include only a memory and a processor, and in such embodiments, the structure and function of the memory and the processor are consistent with the embodiment shown in fig. 11, and will not be described again.
It should be appreciated that in embodiments of the present application, the Processor 502 may be a central processing unit (Central Processing Unit, CPU), the Processor 502 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In another embodiment of the application, a computer-readable storage medium is provided. The computer readable storage medium may be a nonvolatile computer readable storage medium or a volatile computer readable storage medium. The computer readable storage medium stores a computer program, wherein the computer program when executed by a processor implements the delay control method of the motor control system disclosed in the embodiment of the present application.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus, device and unit described above may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein. Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of the units is merely a logical function division, there may be another division manner in actual implementation, or units having the same function may be integrated into one unit, for example, multiple units or components may be combined or may be integrated into another apparatus, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units may be stored in a storage medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on this understanding, the technical solution of the present application may be essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a background server, or a network device, etc.) to perform 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 magnetic disk, an optical disk, or other various media capable of storing program codes.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. The delay control method of the motor control system is applied to an upper computer and is characterized in that the upper computer is in communication connection with a direct current motor digital control system, and the method comprises the following steps:
constructing a current loop discrete model with time delay;
Establishing a transfer function of a PI controller corresponding to a current loop of a direct current motor, and optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller, wherein the PI parameters at least comprise PI controller proportional term parameter values and PI controller integral term parameter values;
Dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current, wherein the current amplitude and sign correspondence table reflects the amplitude characteristics of three-phase current and the sign characteristics of corresponding cosine function;
And inputting the optimized PI parameters and the compensation current into the direct current motor digital control system to optimize the delay of the direct current motor digital control system.
2. The method of claim 1, wherein establishing a transfer function of a PI controller corresponding to a current loop of the dc motor, optimizing the transfer function based on the time-delayed current loop discrete model using an improved z-transform principle to optimize PI parameters of the PI controller, comprises:
establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor;
Converting the transfer function based on a modified z-transform principle to generate a frequency response function of the PI controller;
Generating a PI parameter calculation formula of the PI controller based on a desired phase margin and a frequency response function of the PI controller;
And calculating the optimized PI parameter based on the current loop discrete model with time delay and the PI parameter calculation formula.
3. The method of claim 2, wherein the calculating the optimized PI parameters based on the time-delayed current loop discrete model and the PI parameter calculation formula comprises:
Acquiring the actual frequency response of the digital control system of the direct current motor based on the current loop discrete model with time delay;
acquiring a desired motor rotation angle based on the desired phase margin;
And calculating the optimized PI parameter based on the actual frequency response of the direct current motor digital control system and the expected motor rotation angle.
4. The method according to claim 1, wherein dividing the period of each phase current of the dc motor into a plurality of areas, and creating a current magnitude and sign correspondence table, calculating the compensation current of each phase current of the dc motor based on the current magnitude and sign correspondence table and the normalized measured current, comprises:
Dividing the period of each phase of current of the direct current motor into a plurality of areas, and establishing a current amplitude and sign correspondence table;
carrying out normalization processing on the three-phase current of the motor obtained by measurement;
Comparing the normalized current with the current amplitude and sign correspondence table to determine a phase region to which the normalized current belongs;
Based on the normalized current, calculating the absolute value of a cosine function corresponding to the three-phase current;
determining a symbol of a cosine function corresponding to the three-phase current based on an absolute value of the cosine function corresponding to the phase region to which the normalized current belongs;
And calculating the compensation current of each phase current of the direct current motor based on the sign of the cosine function.
5. The method of claim 4, wherein normalizing the measured three-phase current of the motor comprises:
And acquiring three-phase current measured values of the motor without compensation, d-axis reference current of the motor and q-axis reference current of the motor, and carrying out normalization processing on the three-phase current measured values of the motor without compensation based on a pre-established normalization formula.
6. The method of claim 4, wherein calculating the absolute value of the cosine function corresponding to the three-phase current based on the normalized current comprises:
and taking the normalized current as a sine function value corresponding to the three-phase current, and calculating the absolute value of a cosine function corresponding to the three-phase current based on a trigonometric function formula.
7. The method of claim 4, wherein calculating the compensation current for each phase current of the dc motor based on the sign of the cosine function comprises:
and establishing a compensation current calculation formula, and calculating the compensation current of each phase current of the direct current motor based on the d-axis reference current of the motor, the q-axis reference current of the motor, the normalized current, the error angle of the motor and the sign of the cosine function.
8. The utility model provides a motor control system's delay control device, is applied to the host computer, its characterized in that, host computer and direct current motor digital control system communication are connected, motor control system's delay control device includes:
the model building unit is used for building a current loop discrete model with time delay;
The PI optimizing unit is used for establishing a transfer function of a PI controller corresponding to a current loop of the direct current motor, optimizing the transfer function by utilizing an improved z-transformation principle based on the current loop discrete model with time delay so as to optimize PI parameters of the PI controller, wherein the PI parameters at least comprise proportional term parameter values of the PI controller and integral term parameter values of the PI controller;
The compensation unit is used for dividing the period of each phase of current of the direct current motor into a plurality of areas, establishing a current amplitude and sign correspondence table, and calculating the compensation current of each phase of current of the direct current motor based on the current amplitude and sign correspondence table and the normalized measured current, wherein the current amplitude and sign correspondence table reflects the amplitude characteristics of three-phase current and the sign characteristics of corresponding cosine function;
And the output unit is used for inputting the optimized PI parameter and the compensation current into the direct current motor digital control system so as to optimize the delay of the direct current motor digital control system.
9. A computer device, characterized in that it comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a delay control method of a motor control system according to any one of claims 1-7 when executing the computer program.
10. A computer readable medium, characterized in that the computer readable storage medium stores a computer program, which when executed by a processor causes the processor to perform the delay control method of the motor control system according to any one of claims 1-7.
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