阅读说明：本技术 电机控制装置的振动抑制方法及其装置 (Vibration suppression method and device for motor control device ) 是由 李虎修 丁信忠 储诚兵 陈攀 董平 刘国华 于 2019-10-30 设计创作，主要内容包括：一种电机控制装置的振动抑制方法,包括：a、根据当前给定转矩及伺服电机总惯量预测电机控制装置的当前控制周期的速度增量X1；b、计算电机反馈速度与上一个控制周期的电机预测速度之间的速度差值U1：c、计算速度差值U1在当前控制周期内的分量X2：d、计算当前控制周期的电机预测速度：e、对速度差值U1进行高通滤波得到U2；f、对U2进行低通滤波得到电机反馈速度补偿值；g、将电机反馈速度减去电机反馈速度补偿值,得到电机反馈速度修正值,用电机反馈速度修正值进行电机控制。本发明还提供了一种电机控制装置。本发明可在保证电机全频率段运行、响应速度快的前提下实现电机的减振控制。(A vibration suppression method of a motor control device, comprising: a. predicting the speed increment X1 of the current control period of the motor control device according to the current given torque and the total inertia of the servo motor; b. calculating a speed difference value U1 between the motor feedback speed and the motor predicted speed of the previous control period: c. calculating the component X2 of the speed difference value U1 in the current control period: d. calculating the motor predicted speed of the current control period: e. carrying out high-pass filtering on the speed difference U1 to obtain U2; f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value; g. and subtracting the motor feedback speed compensation value from the motor feedback speed to obtain a motor feedback speed correction value, and controlling the motor by using the motor feedback speed correction value. The invention also provides a motor control device. The invention can realize the vibration damping control of the motor on the premise of ensuring the full-frequency operation and high response speed of the motor.)

1. A vibration suppressing method of a motor control device, characterized by comprising the steps of:

a. predicting the speed increment X1 of the current control period of the motor control device according to the current given torque Tref and the total inertia J of the servo motor:

wherein Ts is the control period of the motor control device;

b. calculating a speed difference value U1 between the motor feedback speed Vfbk of the current control period and the motor predicted speed Vobs' of the previous control period:

U1＝Vfbk-Vobs′

c. calculating the component X2 of the speed difference value U1 in the current control period:

wherein f is the fluctuation frequency of the feedback speed of the motor;

d. calculating the motor predicted speed of the current control period:

Vobs＝Vobs′+X1+X2

e. carrying out high-pass filtering on the speed difference U1 to obtain U2, wherein the cut-off frequency of the high-pass filtering is f;

f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value Vcomp, wherein the cut-off frequency of the low-pass filtering is f;

g. and subtracting the motor feedback speed compensation value Vcomp from the motor feedback speed Vfbk to obtain a motor feedback speed correction value Vfbk ', and controlling the motor by using the motor feedback speed correction value Vfbk'.

2. The vibration suppressing method of a motor control apparatus according to claim 1, wherein the fluctuation frequency f of the motor feedback speed is obtained by a method of waveform analysis.

3. The vibration suppressing method of a motor control device according to claim 2, wherein the motor control device is a controller of a servo driver or a controller of a frequency converter.

4. The vibration suppressing method of a motor control apparatus according to claim 1, wherein in said step g, performing motor control using a motor feedback speed correction value Vfbk 'includes performing speed loop control using said motor feedback speed correction value Vfbk'.

5. A motor control apparatus, comprising:

a memory for storing a program;

a processor for loading the program to perform the vibration suppression method as claimed in claim 1.

Technical Field

The present invention relates to a motor control technique, and more particularly to a vibration suppression technique for a motor control device.

Background

With the development of automation control, the use of automation equipment is higher and higher. In some cases, due to problems in installation, design, rigidity and the like of the equipment, the natural frequency of the equipment is close to the operating frequency range of the motor, so that noise is generated during operation or the motor and the equipment resonate, and the normal operation of the equipment is influenced. In order to reduce the resonance phenomenon generated in the motor control process and improve the running performance of the equipment, a motor control device is required to suppress vibration.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a vibration suppression method for a motor control device, which can realize vibration reduction control of a motor on the premise of ensuring full-frequency operation and high response speed of the motor.

Another object of the present invention is to provide a motor control device.

According to an aspect of the present invention, there is provided a vibration suppressing method of a motor control apparatus, including the steps of:

a. predicting the speed increment X1 of the current control period of the motor control device according to the current given torque Tref and the total inertia J of the servo motor:

wherein Ts is the control period of the motor control device;

b. calculating a speed difference value U1 between the motor feedback speed Vfbk of the current control period and the motor predicted speed Vobs' of the previous control period:

U1＝Vfbk-Vobs′

c. calculating the component X2 of the speed difference value U1 in the current control period:

wherein f is the fluctuation frequency of the feedback speed of the motor;

d. calculating the motor predicted speed of the current control period:

Vobs＝Vobs′+X1+X2

e. carrying out high-pass filtering on the speed difference U1 to obtain U2, wherein the cut-off frequency of the high-pass filtering is f;

f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value Vcomp, wherein the cut-off frequency of the low-pass filtering is f;

g. and subtracting the motor feedback speed compensation value Vcomp from the motor feedback speed Vfbk to obtain a motor feedback speed correction value Vfbk ', and controlling the motor by using the motor feedback speed correction value Vfbk'.

According to another aspect of the present invention, there is provided a motor control device including: a memory for storing a program; a processor for loading the program to perform the aforementioned vibration suppression method.

The embodiment of the invention corrects the feedback speed of the motor, controls the operation of the motor by using the corrected feedback speed of the motor, and eliminates the speed fluctuation amplitude caused by the vibration of the motor by the corrected feedback speed of the motor, thereby realizing the vibration suppression. The servo gain proportion and the rigidity are improved while the vibration is restrained, the full-frequency-band operation of the motor can be realized, and the response delay does not exist, so that the applicability and the control performance of the motor are improved.

Drawings

Fig. 1 is a flowchart illustrating a vibration suppressing method of a motor control apparatus according to an embodiment of the present invention.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Please refer to fig. 1. A vibration suppressing method of a motor control apparatus according to an embodiment of the present invention includes the steps of:

a. when the motor is controlled, predicting a speed increment X1 of a current control period of the motor control device according to a current given torque Tref and the total inertia J of the servo motor:

wherein Ts is the control period of the motor control device; the total inertia J of the motor is the sum of the inertia of the motor and the load inertia of a load driven by the motor;

b. calculating a speed difference value U1 between the motor feedback speed Vfbk of the current control period and the motor predicted speed Vobs' of the previous control period:

U1＝Vfbk-Vobs′

the motor feedback speed Vfbk may be obtained by detecting the spatial position of the rotor by a position detection sensor such as an encoder and then calculating, or may be obtained by directly detecting the rotational speed of the rotor by a speed detection device, and the size of the control period is equal to the size of the sampling period in which the motor control device samples the detection result of the speed detection device;

c. calculating the component X2 of the speed difference value U1 in the current control period:

wherein f is the fluctuation frequency of the feedback speed of the motor, and is caused by the resonance of the motor and equipment; the fluctuation frequency of the feedback speed of the motor can be obtained by a waveform analysis method, which is the prior art and is not described herein again. The vibration period of the motor is longer than the control period of the motor control device, and the purpose of the step c is to obtain the component of the speed difference value caused by the vibration of the motor in the current control period for subsequent compensation so as to avoid the unstable operation of the motor caused by excessive compensation at one time;

d. calculating the motor predicted speed of the current control period:

Vobs＝Vobs′+X1+X2

the calculated Vobs is used for the operation of the next control period, namely the calculated Vobs is used as the motor predicted speed Vobs' of the previous control period in the operation of the next control period, and if the calculated Vobs is the first control period, the motor predicted speed value of the previous control period is zero;

e. carrying out high-pass filtering on the speed difference value U1 to obtain U2, wherein the cut-off frequency of the high-pass filtering is the fluctuation frequency f of the feedback speed of the motor so as to filter out high-frequency components;

f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value Vcomp, wherein the cut-off frequency of the low-pass filtering is the fluctuation frequency of the motor feedback speed to filter out low-frequency components, and the motor feedback speed compensation value Vcomp obtained after the low-pass filtering can be regarded as a speed fluctuation amplitude generated by motor vibration;

g. and subtracting the motor feedback speed compensation value Vcomp from the motor feedback speed Vfbk to obtain a motor feedback speed correction value Vfbk ', namely, Vfbk ' is Vfbk-Vcomp, and carrying out motor control by using the motor feedback speed correction value Vfbk '.

When the motor control device controls the operation of the motor, the above-described steps a to g are cyclically executed.

It should be noted that the division of the method steps is for clarity of description, and should not be construed as limiting the order of execution of the method. For example, the step d is not limited to be performed before the step e, and may be performed after the step e, and the speed difference U1 may be subjected to low-pass filtering and then high-pass filtering to obtain the motor feedback speed compensation value Vcomp.

Optionally, the high-pass filtering in step e is first-order high-pass filtering, and the low-pass filtering in step f is first-order low-pass filtering. The motor is a servo motor, the motor control device is a controller of a servo driver or a controller of a frequency converter, and the controller can be a single chip microcomputer, a DSP and the like.

In the step g, the performing of the motor control by using the motor feedback speed correction value Vfbk 'includes performing a speed loop control by using the motor feedback speed correction value Vfbk', where the speed loop control is performed by, for example, PI adjusting a difference between the motor set speed and the motor feedback speed correction value Vfbk 'so that the motor feedback speed correction value Vfbk' and the motor set speed tend to be consistent. Specific ways of motor control include, but are not limited to, vector control, direct torque control, and the like.

There is also provided in accordance with yet another embodiment of the present invention a motor control apparatus including a memory and a processor. The memory is used for storing programs; the processor is used for loading the program to execute the vibration suppression method.

The embodiment of the invention corrects the feedback speed of the motor, controls the operation of the motor by using the corrected feedback speed of the motor, and eliminates the speed fluctuation amplitude caused by the vibration of the motor by the corrected feedback speed of the motor, thereby realizing the vibration suppression. The servo gain proportion and the rigidity are improved while the vibration is restrained, the full-frequency-band operation of the motor can be realized, and the response delay does not exist, so that the applicability and the control performance of the motor are improved.

The foregoing description is further illustrative of the present invention with reference to the following detailed description and accompanying drawings. It will be apparent, however, to one skilled in the art that the present invention may be practiced in many other ways than those specifically set forth herein, and that these variations may be performed in many different ways without departing from the spirit and scope of the present invention.