阅读说明：本技术 一种一拖三作动装置的位置实时同步控制系统及方法 (Position real-time synchronous control system and method for one-driving-three actuating device ) 是由 秦秀娟 甘新鹏 徐航 李岩 赵生超 于 2019-10-28 设计创作，主要内容包括：本发明公开了一种一拖三作动装置的位置实时同步控制系统,其包括控制器和作动器模块；控制器包括主DSP、从DSP和FPGA；作动器模块中每路单路作动器包括电机、减速器和作动机构,每台作动机构中均装有电位计,用以采集作动机构位置,每台电机中均装有旋转变压器,用以采集电机角度和转速；主DSP和从DSP与FPGA并行通讯,主DSP和上位机采用串行通讯,主DSP接收上位机发送的指令信号,通过闭环控制,驱动三路单路作动器高精度实时位置同步直线工作,同时将作动机构和电机反馈的信息进一步向上位机反馈。本发明不仅提高了多路作动机构在起动和给定位置突变的同步性能,也改善了多路作动机构在稳态下突加负载时的同步性能。(The invention discloses a position real-time synchronous control system of a one-driving-three actuating device, which comprises a controller and an actuator module; the controller comprises a master DSP, a slave DSP and an FPGA; each single-path actuator in the actuator module comprises a motor, a speed reducer and an actuating mechanism, wherein each actuating mechanism is internally provided with a potentiometer for acquiring the position of the actuating mechanism, and each motor is internally provided with a rotary transformer for acquiring the angle and the rotating speed of the motor; the master DSP and the slave DSP are in parallel communication with the FPGA, the master DSP and the upper computer are in serial communication, the master DSP receives an instruction signal sent by the upper computer, the three paths of one-way actuators are driven to work linearly in a high-precision real-time position synchronization mode through closed-loop control, and meanwhile information fed back by the actuating mechanisms and the motors is further fed back to the upper computer. The invention not only improves the synchronization performance of the multi-path actuating mechanism when the multi-path actuating mechanism is suddenly started and suddenly loaded at a given position, but also improves the synchronization performance of the multi-path actuating mechanism when the load is suddenly loaded under a steady state.)

1. A position real-time synchronous control system of a one-driving-three actuating device is characterized by comprising a controller and an actuator module; the controller comprises a master DSP, a slave DSP and an FPGA; the actuator module comprises three paths of single-path actuators, each single-path actuator comprises a motor, a speed reducer and an actuating mechanism, each actuating mechanism is internally provided with a potentiometer for acquiring the position of the actuating mechanism, and each motor is internally provided with a rotary transformer for acquiring the angle and the rotating speed of the motor; the master DSP and the slave DSP are in parallel communication with the FPGA, the master DSP and the upper computer are in serial communication, the master DSP receives an instruction signal sent by the upper computer, the three paths of one-way actuators are driven to work linearly in a high-precision real-time position synchronization mode through closed-loop control, and meanwhile information fed back by the actuating mechanisms and the motors is further fed back to the upper computer.

2. The system for real-time synchronous position control of a one-drag-three actuator device according to claim 1, wherein the main DSP communicates with the upper computer through RS422 bus, is responsible for command reception and data transmission, and simultaneously realizes data interaction with the FPGA through parallel ports, and outputs 1 set of PWM signals through a three-ring fusion algorithm, thereby realizing real-time displacement control of the motor in one path of the one-way actuator; the slave DSP outputs PWM signals controlled by two motors and is responsible for displacement control of other two paths of one-way actuators, the slave DSP realizes data interaction with the FPGA through a parallel port to obtain position and speed signals of the motors in the other two paths of one-way actuators, and simultaneously, the slave DSP indirectly obtains instruction information sent by the master DSP through the FPGA and feeds back product state and fault information to the master DSP through the FPGA; the FPGA is responsible for resolver signal resolving, signal acquisition and processing and master/slave DSP information transmission, and feeds back results to the master DSP and the slave DSP for the master/slave DSP to complete control algorithm closed loop and carry out monitoring and control decision on operation state data.

3. The system for real-time synchronized position control of a one-drag-three actuator device of claim 2, wherein the data communicated by the host DSP to the FPGA includes electrical signals acquired by the FPGA from the actuator module, including the position and speed of the respective motor.

4. The system for real-time synchronized control of the position of a one-drag-three actuator device of claim 2, wherein the three-loop fusion algorithm comprises a position loop, a speed loop, and a current loop.

5. A position real-time synchronous control method of a one-driving-three actuating device is characterized in that the control method is carried out based on a position real-time synchronous control system of the one-driving-three actuating device in any one of claims 3 or 4, a main DSP obtains a new position command through a trajectory planning algorithm after receiving the position command sent by an upper computer, the position feedback is acquired by a potentiometer in an actuating mechanism and is filtered, the position command and a position feedback position loop output a speed loop command after being subjected to PI adjustment, the speed feedback is acquired by a rotary transformer in the actuating mechanism and is filtered, the speed loop command and the speed feedback speed loop output a current loop command after being subjected to PI adjustment, a motor phase current feedback is acquired by a current sensor arranged in a controller after being sampled and filtered, the current command and the current feedback current loop are subjected to anti-saturation processing and power amplification after being subjected to PI adjustment, and outputting a PWM signal to control the actuator to generate displacement according to the instruction.

6. The system for real-time synchronous position control of a one-drag-three actuator device as claimed in claim 5, wherein the host DSP performs trajectory planning for the 3-way single-way actuator to achieve clock synchronization for the 3-way single-way actuator.

7. The system for real-time synchronized control of the position of a one-drag-three actuator device of claim 6, wherein the speed loop incorporates speed feedforward and the current loop incorporates current feedforward control.

8. The system of claim 6, wherein the speed loop PI regulation is a PI regulator with a desaturation loop, and a speed command smoothing filter loop is added to the speed loop.

9. The system of claim 6, wherein the three actuators are set as 1 master 2 slave control, and W1, W2 and W3 are respectively feedback of current positions of the three actuators, and W is a position command sent by the upper computer; when the asynchronous condition occurs in the operation process of the actuating mechanisms, the deviation between the positions of the three actuating mechanisms is monitored in real time, the maximum deviation between the positions of the three actuating mechanisms is calculated once every 250us, if the maximum deviation is not larger than 0.5mm, the controller tracks a target position instruction input by an upper computer, when the maximum deviation is larger than 0.5mm, synchronous adjustment is carried out on the positions of the three actuating mechanisms, the average value of the positions of the current three actuating mechanisms is used as a position loop instruction, through adjustment, when the deviations between the positions of the three actuating mechanisms are within 0.5mm, the synchronous adjustment is finished, and the controller continues to track the target instruction input by the upper computer.

Technical Field

The invention belongs to the technical field of engines, relates to synchronous control of a multi-path electric actuating mechanism, and particularly relates to a position real-time synchronous control system and method of a one-to-three actuating device.

Background

The electric actuating device is mainly applied to an air inlet and exhaust regulating system of an engine and generally comprises an actuating mechanism, an electric motor and an actuating device controller, and the multi-path electric actuating device comprises a multi-path actuating mechanism, an electric motor and an actuating device controller. Generally, an actuating device controller receives a command signal sent by an engine integrated controller, acquires a voltage signal of an angle sensor of an actuating mechanism, and realizes closed-loop control of an actuating device; and meanwhile, signals of the working state and the instruction execution condition of the actuating device are sent to the engine integrated controller, so that high-precision real-time position synchronous control of the multi-path actuating device is realized.

The actuator controller is one of the servo controllers, and the development of the motor servo control technology gradually transits the synchronous control from mechanical to electrical, and the existing synchronous control technology comprises parallel control, master-slave control, cross-coupling control and deviation coupling control. Parallel control and master-slave control belong to non-cross coupling synchronous control, and when the load changes, the synchronous precision between motors cannot be guaranteed. The main feature of cross-coupling control is to compare the speed or position signals of the two motors to obtain a difference as an additional feedback signal. By using the additional feedback signal as a tracking signal, the system can reflect the load change of any motor, thereby obtaining good synchronous control precision. But this control strategy is not suitable for synchronous control situations of more than two motors. For three or more control systems, the speed compensation signal is difficult to determine and is not suitable, so that the application of the control strategy in the actual multi-motor control project is greatly limited.

The main idea of the deviation coupling control is to make the speed feedback of a certain motor and the speed feedback of other motors respectively have difference, and then add the obtained deviations to be used as the speed compensation signal of the motor. However, when the number of the motors is large, the model of the rotating speed compensator of each motor is complicated, and the online calculation workload is large.

In addition, multi-channel electric actuator controllers typically employ multi-DSP systems. The multi-DSP system is a system formed by a plurality of independent DSPs, the DSPs are interconnected in a certain mode, and each DSP can independently execute own programs. The DSP and the DSP communicate through the internet, transmit data and synchronize. The multi-DSP system has the problems of complex control, large data transmission quantity, insufficient real-time performance and the like.

Disclosure of Invention

Objects of the invention

The purpose of the invention is: the method solves the defects in the existing synchronous control strategy, solves the problem of complex control of a multi-DSP system of the traditional controller, provides a simple and feasible actuating device controller circuit and a position real-time synchronous control method which are easy to realize in engineering, and ensures that a set of reliable and feasible one-driving-three actuating device controller is provided for an engine.

(II) technical scheme

In order to solve the technical problem, the invention provides a position real-time synchronous control system of a one-driving-three actuating device, which comprises a controller and an actuator module; the controller comprises a master DSP, a slave DSP and an FPGA; the actuator module comprises three paths of single-path actuators, each single-path actuator comprises a motor, a speed reducer and an actuating mechanism, each actuating mechanism is internally provided with a potentiometer for acquiring the position of the actuating mechanism, and each motor is internally provided with a rotary transformer for acquiring the angle and the rotating speed of the motor; the master DSP and the slave DSP are in parallel communication with the FPGA, the master DSP and the upper computer are in serial communication, the master DSP receives an instruction signal sent by the upper computer, the three paths of one-way actuators are driven to work linearly in a high-precision real-time position synchronization mode through closed-loop control, and meanwhile information fed back by the actuating mechanisms and the motors is further fed back to the upper computer.

The main DSP is communicated with the upper computer through an RS422 bus and is responsible for instruction receiving and data sending, meanwhile, data interaction is achieved through a parallel port and the FPGA, the main DSP outputs 1 group of PWM signals through a three-ring fusion algorithm, and real-time displacement control over a motor in one path of one-way actuator is achieved; the slave DSP outputs PWM signals controlled by two motors and is responsible for displacement control of other two paths of one-way actuators, the slave DSP realizes data interaction with the FPGA through a parallel port to obtain position and speed signals of the motors in the other two paths of one-way actuators, and simultaneously, the slave DSP indirectly obtains instruction information sent by the master DSP through the FPGA and feeds back product state and fault information to the master DSP through the FPGA; the FPGA is responsible for resolver signal resolving, signal acquisition and processing and master/slave DSP information transmission, and feeds back results to the master DSP and the slave DSP for the master/slave DSP to complete control algorithm closed loop and carry out monitoring and control decision on operation state data.

And the data interacted between the main DSP and the FPGA comprises electric signals acquired by the FPGA from the actuator module, including the position and the speed of each motor.

The three-loop fusion algorithm comprises a position loop, a speed loop and a current loop.

The invention also provides a position real-time synchronous control method of the one-driving-three actuating device, a main DSP receives a position instruction sent by an upper computer, a new position instruction is obtained through a track planning algorithm, position feedback is acquired by a potentiometer in the actuating mechanism and is filtered, the position instruction and a position feedback position loop output a speed loop instruction after being regulated by PI, speed feedback is acquired by a rotation transformer in the actuating mechanism and is filtered, the speed loop instruction and the speed feedback speed loop output a current loop instruction after being regulated by PI, motor phase current feedback is acquired by a current sensor arranged in a controller after being sampled and is filtered, the current instruction and the current feedback current loop are regulated by PI and are subjected to anti-saturation processing and power amplification, and a PWM signal is output to control an actuator to generate displacement according to the instruction.

And the main DSP finishes the track planning of the 3 paths of single-path actuators and realizes the clock synchronism controlled by the 3 paths of single-path actuators.

Wherein, the speed loop is added with speed feedforward and the current loop is added with current feedforward control.

The speed loop PI regulation adopts a PI regulator with a desaturation link, and a speed instruction smoothing filtering link is added into the speed loop.

The three actuating mechanisms are set to be 1 master and 2 slave control, W1, W2 and W3 are set to be current position feedback of the three actuating mechanisms respectively, and W is a position command sent by an upper computer; when the asynchronous condition occurs in the operation process of the actuating mechanisms, the deviation between the positions of the three actuating mechanisms is monitored in real time, the maximum deviation between the positions of the three actuating mechanisms is calculated once every 250us, if the maximum deviation is not larger than 0.5mm, the controller tracks a target position instruction input by an upper computer, when the maximum deviation is larger than 0.5mm, synchronous adjustment is carried out on the positions of the three actuating mechanisms, the average value of the positions of the current three actuating mechanisms is used as a position loop instruction, through adjustment, when the deviations between the positions of the three actuating mechanisms are within 0.5mm, the synchronous adjustment is finished, and the controller continues to track the target instruction input by the upper computer.

(III) advantageous effects

Compared with the prior art, the system and the method for synchronously controlling the position of the one-driving-three actuating device in real time have the following beneficial effects:

1. the invention is more flexible on the aspect of hardware design scheme, the design of the FPGA is added in the control circuit, and the 2 DSP systems realize the synchronous control of 3 actuating mechanisms through the comprehensive scheduling control of the FPGA, the control structure is similar to cross coupling control, but the control operation also realizes the synchronous control of three mechanisms, namely, the control method is simplified by utilizing the hardware circuit, and the synchronous control of a plurality of electric mechanisms is realized;

2. the invention provides a position real-time synchronous control method of a one-driving-three actuating device, which improves a cross coupling synchronous control method, adds PI control on a cross coupling control strategy, enables a system to well realize synchronous control, realizes real-time adjustment and position real-time synchronous control of a motor for the actuating device and is easier to realize engineering.

3. The invention not only improves the synchronization performance of the multi-path actuating mechanism when the multi-path actuating mechanism is suddenly started and suddenly loaded at a given position, but also improves the synchronization performance of the multi-path actuating mechanism when the load is suddenly loaded under a steady state.

Drawings

FIG. 1 is a schematic diagram of a control system according to an embodiment of the present invention.

Fig. 2 is a schematic block diagram of position/speed/current full closed loop control.

FIG. 3 is a diagram illustrating an update location instruction when not synchronized.

Fig. 4 is a view showing a structure of the rotational speed compensation.

Detailed Description

In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.

The position real-time synchronous control system of the one-driving-three actuating device adopts a hybrid control mode, a hardware system consists of a main controller, a slave controller and an FPGA (field programmable gate array), a parallel communication mode is adopted between the main controller and the slave controller, a serial communication mode is adopted between the main controller and an upper computer, and a control schematic diagram is shown in figure 1. The control method adopts three-loop fusion control of a position loop, a rotating speed loop and a current loop, changes the speed compensation of the traditional cross coupling control method into position compensation, simultaneously increases the speed compensation and the current feedforward for improving the real-time performance, and realizes the position real-time synchronous control of three actuating devices through two aspects of hardware design and software improvement.

As shown in fig. 1, the position real-time synchronous control system of the one-to-three actuator device of the present embodiment includes a controller and an actuator module; the controller comprises a master DSP, a slave DSP and an FPGA; the actuator module comprises three paths of single-path actuators, each single-path actuator comprises a motor, a speed reducer and an actuating mechanism, each actuating mechanism is internally provided with a potentiometer for acquiring the position of the actuating mechanism, and each motor is internally provided with a rotary transformer for acquiring the angle and the rotating speed of the motor; the main DSP and the slave DSP are in parallel communication with the FPGA, the main DSP and the upper computer are in serial communication, the controller is used as an important component of a control system and has the main functions of receiving an instruction signal sent by the upper computer, completing various algorithm closed loops, driving three paths of one-way actuators to work linearly in a high-precision real-time position synchronization mode, and meanwhile, feeding back information fed back by an actuating mechanism and a motor to the upper computer.

Wherein, each part of the controller has the following functions:

the main DSP is communicated with the upper computer through an RS422 bus and is responsible for instruction receiving and data sending (including key electrical variables, state variables, fault information and the like), meanwhile, data interaction is achieved through a parallel port and the FPGA, interactive data comprise key electrical signals obtained by the FPGA from an actuator, such as the position, the speed and the like of the motor 1, and the main DSP outputs 1 group of PWM signals through a three-ring fusion algorithm to achieve high-precision real-time displacement control over the motor 1. The slave DSP outputs PWM signals controlled by 2 motors and is responsible for displacement control of the one-way actuator 2 and the one-way actuator 3, the slave DSP realizes data interaction with the FPGA through a parallel port, key electrical signals such as the positions and the speeds of the two motors are obtained, meanwhile, instruction information sent by the master DSP is indirectly obtained through the FPGA, and product state and fault information are fed back to the master DSP through the FPGA. The FPGA is responsible for resolver signal resolving, signal acquisition and processing and master/slave DSP information transmission, and feeds back results to the master DSP and the slave DSP for the master/slave DSP to complete various algorithm closed loops and perform monitoring and intelligent decision on operation state data.

Controller control schematic as shown in fig. 2, the three-loop fusion algorithm includes a position loop, a velocity loop, and a current loop. After receiving a position instruction sent by an upper computer, a main DSP obtains a new position instruction through a track planning algorithm, position feedback is obtained by acquiring through a potentiometer in an actuating mechanism and filtering, the position instruction and a position feedback position loop output a speed loop instruction after being subjected to PI regulation, speed feedback is obtained by acquiring through a rotary transformer in the actuating mechanism and filtering, the speed loop instruction and the speed feedback speed loop output a current loop instruction after being subjected to PI regulation, motor phase current feedback is obtained by filtering after being sampled by a current sensor arranged in a controller, the current instruction and the current feedback current loop are subjected to PI regulation and then subjected to anti-saturation processing and power amplification, and a PWM signal is output to control an actuator to generate displacement according to the instruction.

Meanwhile, in order to complete accurate synchronous control of the multi-actuating mechanism, the displacement, the speed and the acceleration of each single-path actuator are measured through a track planning algorithm, and the speed and the acceleration of each actuator at the same moment are planned at a fixed time point so as to reach an ideal displacement point. In the aspect of resource allocation, a processor, namely a main DSP, is adopted to complete the track planning of the 3-path single-path actuator, so that the clock synchronism controlled by the 3-path single-path actuator is ensured.

In order to improve the dynamic performance of the actuator, it is necessary to add a speed feedforward to the speed loop and a current feedforward control to the current loop.

The control based on the FOC needs to accurately collect the position angle and the three-phase current of the motor rotor, and the angle value and the phase current value are used as input quantity of vector transformation to participate in the whole FOC control process. The design of a current loop regulator depends mainly on the electrical parameters of the motor and is less load dependent, since the back-emf changes much more slowly than the current. Because the resistance and the inductance of the motor can be accurately obtained, the current loop regulator can accurately cancel the electrical pole of the motor by adopting a pole-zero cancellation method, and the response speed of the current loop is improved.

In order to improve the response speed of the speed loop and reduce overshoot caused by integration, the speed loop regulator adopts a PI regulator with a desaturation link, and in order to ensure the stable operation of a servo system, a speed instruction smoothing filtering link is added into the speed loop.

In the above 3 examples of single-path actuators, a cross-coupling control method suitable for synchronous control of two actuating mechanisms is used by taking the design of a hardware structure into consideration, after the FPGA is added into a controller for processing, 3 actuating mechanisms are taken as 1 master and 2 slave controls, W1, W2 and W3 are set to be fed back respectively to the current positions of the three actuating mechanisms, W is a position command sent by an upper computer, once the actuating mechanisms are out of synchronization in the running process (the deviation between any two mechanism positions is not greater than 2mm), the deviation between the three mechanism positions is monitored in real time in a control algorithm, the maximum deviation between the three mechanism positions is calculated once every 250us, if the maximum deviation is not greater than 0.5mm, a control system tracks a target position command input by the upper computer, when the maximum deviation is greater than 0.5mm, synchronous adjustment is carried out on the three mechanism positions, the average value of the current three mechanism positions is taken as a position loop command, through adjustment, when the deviation between the positions of the three mechanisms is within 0.5mm, synchronous adjustment is finished, and the control system continues to track a target instruction input by the upper computer. Fig. 3 shows the structure of the position instruction when the desynchronization occurs, where W ═ (W1+ W2+ W3)/3.

In addition, during synchronous adjustment, the average value of the positions of the three mechanisms is taken as a target instruction, the deviation between each position feedback value and the instruction is small, and the speed loop instruction and the position loop adjustment deviation are in a proportional relation, so that the speed loop instruction is reduced, the three mechanisms are decelerated, and the adjustment time of the system is prolonged.

Thus, the compensation of the speed ring of the 3 actuating mechanisms is as follows:

n*i＝ei+di,(i＝1,2,3)

di＝kp(W*-Wi)+kv(W*-Wi),(i＝1,2,3)

after obtaining the reference rotating speed of an outer ring, designing a current control algorithm of a single actuating mechanism, specifically, n i is a given rotating speed signal, n1 is the rotating speed of a motor of the 1 st actuating mechanism, detecting an angular position signal of the motor of the actuating mechanism through a rotary transformer to obtain an actual rotating speed signal, collecting stator currents iA, iB and iC in a three-phase static coordinate system through a current sensor, converting the currents into i α and i β in a static two-phase coordinate system by using Clarke conversion, continuously converting the currents i α and i β into currents id in a rotating two-phase coordinate system under the premise of the same magnetomotive force and equalizing, controlling iq by a iq. controller to be equivalent to control and torque so as to realize the control of the speed current loop, and in order to achieve the purpose of vector control, carrying out Park regulation on components of mu d and mu q after PI regulation, and then converting the components into a Park control system 357- β to synthesize a needed vector SV563226.

As can be seen from the above discussion, in order to implement the vector transformation control algorithm, a series of vector transformations must be performed, then the correct output value of the three-phase ac voltage is calculated through the SVPWM algorithm, and then the three-phase ac voltage is loaded to the three-phase motor through the inverter, and finally the control voltage of the three-phase motor is synthesized. The motor of the actuating mechanism tracks the reference voltage under the action of the controller, and the cross coupling control of the motor is realized.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.