阅读说明：本技术 一种多路并联伺服机构协调控制器 (Multi-path parallel servo mechanism coordination controller ) 是由 杨佳利 和阳 朱纪洪 于 2019-09-27 设计创作，主要内容包括：本发明提供了一种多路并联伺服机构协调控制器,属于机电伺服控制技术领域,其特征在于含有N路位置协调控制器,每路位置协调控制器包含一个减法器、一个位置控制器、一个速度指令限幅器、一个误差补偿控制器和一个加法器。对于多个机电伺服机构之间的协调控制在动态响应过程中难以保证同步精度的问题,本发明提出了一种协调控制方案,利用多路位置控制误差进行补偿控制,将所有机电伺服系统的响应过程与动态特性最慢的一路伺服系统保持一致,实现多个机电伺服系统动态响应过程的高精度协调控制。本发明的优点在于思想简单、易于实现、控制参数调试难度小,不存在因控制能力有限难以进行协调控制的问题。(The invention provides a multi-path parallel servo mechanism coordination controller, which belongs to the technical field of electromechanical servo control and is characterized by comprising N paths of position coordination controllers, wherein each path of position coordination controller comprises a subtracter, a position controller, a speed instruction amplitude limiter, an error compensation controller and an adder. For the problem that the synchronous precision of the coordination control among a plurality of electromechanical servo mechanisms is difficult to ensure in the dynamic response process, the invention provides a coordination control scheme, which utilizes multi-path position control errors to carry out compensation control, keeps the response processes of all electromechanical servo systems consistent with one path of servo system with the slowest dynamic characteristic, and realizes the high-precision coordination control of the dynamic response processes of the plurality of electromechanical servo systems. The invention has the advantages of simple thought, easy realization, small difficulty in debugging control parameters and no problem of difficult coordination control due to limited control capability.)

1. A multi-path parallel servo mechanism coordination controller is characterized by comprising N paths of position coordination controllers (N is an integer larger than 1), wherein each path of position coordination controller comprises a subtracter, a position controller, a speed instruction amplitude limiter, an error compensation controller and an adder; the subtracter in the ith path (i is 1, 2, 3, …, N) realizes the subtraction operation of the position command and the position feedback signal in the ith path, and obtains the position control error err in the ith path _iAs the input signal of the ith path of the position controller; the position controller of the ith path controls the error err according to the position of the ith path _iAnd obtaining the output signal of the ith path of position controller through calculation according to the position control law

2. The multi-way parallel servo coordinated controller of claim 1, wherein said error compensation controller comprises a signal selector, a subtractor and a compensation controller, wherein: the input signal of the signal selector in the ith path (i is 1, 2, 3, …, N) is N paths of position control errors err ₁，err ₂，err ₃，…，err _N(ii) a The ith signal selector selects one signal with the maximum absolute value as an output signal err of the ith signal selector according to the N input signals _s(ii) a The ith path of the subtracter is used for realizing the ith path of the position control error signal err _iAnd the ith output signal err of the signal selector _sTo obtain the ith path coordination control deviation signal delta _iAs the input signal of the ith path of the compensation controller; the ith path of the compensation controller controls the deviation signal delta according to the ith path of the coordinated control _iCalculating the compensation control quantity u by adopting a proportional control mode or a proportional plus integral control mode _iAs the output signal u of the i-th path of the error compensation controller _i。

3. The multi-channel parallel servo coordinated controller of claim 2, wherein the proportional plus integral control mode is characterized in that the integrator is a logic integrator, namely: if the input signal Delta of the logic integrator and the output signal u of the logic integrator ^LIOf opposite sign, i.e. Δ × u ^LIIf < 0, integral gain K1 is used ^I(ii) a Otherwise, the integral gain K2 is adopted ^I(ii) a Wherein, K1 ^I＞＞K2 ^I≥0。

Technical Field

The invention belongs to the technical field of electromechanical servo control, and relates to a coordination control scheme of a multi-path parallel servo mechanism.

Background

In the distributed control architecture, a plurality of execution mechanisms need to be coordinated to achieve the expected control effect, and also need to be kept consistent in the dynamic response process, otherwise, unexpected control deviation can be generated to influence the system performance. However, in an actual system, due to the uncertainty of external load disturbance, the difference of inertia magnitudes, and the influence caused by a processing error, the response performance of each actuator has a deviation, which brings difficulty to distributed coordination control, and especially, when the actuator has a rate saturation nonlinear problem in a dynamic response process, the coordination control difficulty in the response process is larger. Therefore, the problem of dynamically coordinating control of multiple servos has presented a significant technical challenge.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a coordination control scheme for a multi-way parallel servo mechanism, so as to solve the problem of high-precision coordination control of the multi-way parallel servo mechanism in a dynamic response process.

A multi-path parallel servo mechanism coordination controller is characterized by comprising N paths of position coordination controllers (N is an integer larger than 1), wherein each path of position coordination controller comprises a subtracter, a position controller, a speed instruction amplitude limiter, an error compensation controller and an adder; the subtracter in the ith path (i is 1, 2, 3, …, N) realizes the subtraction operation of the position command and the position feedback signal in the ith path, and obtains the position control error err in the ith path _iAs the input signal of the ith path of the position controller; the position controller of the ith path controls the error err according to the position of the ith path _iAnd obtaining the output signal of the ith path of position controller through calculation according to the position control law

As the input signal of the ith path of the speed command amplitude limiter; the ith path of speed instruction amplitude limiter obtains an output signal of the ith path of speed instruction amplitude limiter after numerical value amplitude limiting operation

The ith path of input signal of the error compensation controller is N paths of position control errors err ₁，err ₂，err ₃，…，err _N(ii) a The ith path of error compensation controller carries out compensation control according to the N paths of position control errors to obtain an output signal u of the ith path of error compensation controller _i(ii) a The ith path of the adder realizes the limiting of the speed instruction of the ith pathOutput signal of the device

And the ith output signal u of the error compensation controller _iTo obtain the output signal of the ith path of the position coordination controller

As an input command to the subsequent controller.

Optionally, the error compensation controller comprises a signal selector, a subtractor and a compensation controller, wherein: the input signal of the signal selector in the ith path (i is 1, 2, 3, …, N) is N paths of position control errors err ₁，err ₂，err ₃，…，err _N(ii) a The ith signal selector selects one signal with the maximum absolute value as an output signal err of the ith signal selector according to the N input signals _s(ii) a The ith path of the subtracter is used for realizing the ith path of the position control error signal err _iAnd the ith output signal err of the signal selector _sTo obtain the ith path coordination control deviation signal delta _iAs the input signal of the ith path of the compensation controller; the ith path of the compensation controller controls the deviation signal delta according to the ith path of the coordinated control _iCalculating the compensation control quantity u by adopting a proportional control mode or a proportional plus integral control mode _iAs the output signal u of the i-th path of the error compensation controller _i。

Optionally, the integrator in the proportional plus integral control mode adopts a logic integrator, that is: if the input signal Delta of the logic integrator and the output signal u of the logic integrator ^LIOf opposite sign, i.e. Δ × u ^LIIf < 0, integral gain K1 is used ^I(ii) a Otherwise, the integral gain K2 is adopted ^I(ii) a Wherein, K1 ^I＞＞K2 ^I≥0。

The invention can realize the high-precision coordination control of the multi-path parallel servo mechanisms in the dynamic response process by adopting the technical scheme, and the coordination control scheme keeps the dynamic response performance of all the servo mechanisms consistent with that of one path of servo mechanism with the slowest dynamic response, so that the coordination control error which is difficult to compensate and is generated by certain servo mechanisms due to limited self response capability in the compensation control process can be avoided. The invention has no limit on the number of control channels, has small control parameter debugging task amount, and does not influence the overall dynamic response performance of the system while ensuring the coordination control precision.

Drawings

FIG. 1: the invention relates to a block diagram of a coordination control scheme.

FIG. 2: error compensation controller block diagram.

FIG. 3: there is a system response graph for a rate saturation condition.

Detailed Description

The invention is further described with reference to the accompanying drawings and examples, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application.

In this embodiment, coordination control under the condition that 3 electromechanical servomechanisms are connected in parallel is taken as an example for introduction, and the 3-way servomechanism has a rate saturation problem and a performance difference in a high dynamic response process, which causes a deviation in a response process under the same position command, as shown in fig. 3. The 3-path servo mechanism adopts the same drive controller which comprises 1 control processor, 3-path drive modules and a sensor sampling circuit. The position commands are clocked from the external digital bus to the control processor using Texas Instruments (TI) TMS320F28xx ^TMThe serial digital signal processing chip internally comprises a timed interrupt source and realizes the position coordination control of the 3-path servo mechanism according to the following steps:

(1) initialization: setting a speed instruction amplitude limit value according to the motor performance of the electromechanical servo mechanism, and setting a system coordination control period T _sSetting corresponding control gain parameters;

(2) controlling the processor internal timer interrupt service routine to sample the period T _sCollecting position feedback signals of 3-path servo mechanism and reading latest signals through data communication busBased on the latest position command and the position feedback signal of the 3-way servo mechanism, the position control error err of the 3-way servo mechanism is calculated ₁，err ₂，err ₃；

(3) According to the 1 st path position control law parameter and the 1 st path position control error err ₁Calculating to obtain output signal of position controller

Limiting value pair according to speed instruction

Carrying out amplitude limiting processing to obtain an output signal of a speed instruction amplitude limiter

(4) Error err control based on 3-way servo position ₁，err ₂，err ₃The signal with the largest absolute value is selected as the output signal err of the signal selector _s；

(5) Position control error err with way 1 servomechanism ₁Subtracting the signal selector output signal err _sObtaining a 1 st path coordination control deviation signal delta ₁；

(6) The 1 st path error compensation controller controls the deviation signal delta according to the 1 st path coordination ₁And calculating the control parameter to obtain a compensation control quantity u ₁And the control law can adopt a proportional control mode or a proportional plus integral control mode, if the proportional plus integral control mode is adopted, in order to eliminate the adverse effect of phase lag of the traditional integrator, the logic integrator is adopted, namely: if the input signal of the logic integrator is delta ₁And the output signal of the logic integrator

Of opposite sign, i.e.

Then the integral gain is adopted

Otherwise, the integral gain is adopted Wherein the content of the first and second substances,

(7) output signal of 1 st speed instruction amplitude limiter

And the output signal u of the 1 st error compensation controller ₁Performing addition operation to obtain the output signal of the 1 st path position coordination controller

Namely: as an input command to the later speed controller;

(8) similarly, the output signals of the position coordination controllers of the 2 nd path servo mechanism and the 3 rd path servo mechanism are calculated according to the steps (3) to (7)

And

and serves as an input command of the corresponding speed controller.

Through the steps, high-precision coordination control of the 3-way servo mechanism in the dynamic response process can be realized. The above-described embodiments of the present invention have been described in detail for the purpose of illustrating the invention, and it should be understood that the invention is not limited to the embodiments, but is intended to cover various modifications, equivalents, improvements, etc. within the spirit and scope of the invention.