阅读说明：本技术 灌溉一体化智能阀门的无速度传感器控制及参数校准方法 (Speed-sensor-free control and parameter calibration method for irrigation integrated intelligent valve ) 是由 李彬 李端明 李娜 颜爱忠 于 2019-06-26 设计创作，主要内容包括：本发明公开了电气工程领域内的一种灌溉一体化智能阀门的无速度传感器控制及参数校准方法,包括以下：1)电机采用双极性调制,得到电机端电压和供电电压之间的关系；2)建立基于自适应滑模观测器的模型电机；3)通过Lyapunov非线性设计法得到估计转速的自适应律；4)通过阀门角度函数关系式推导出阀门角度与机械角速度之间的函数关系；5)令阀门开度在0到1之间变化对阀门角度辨识系数<Image he="20" wi="27" file="724880DEST_PATH_IMAGE002.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>进行大致推算；6)通过电流内环对阀门角度辨识系数<Image he="19" wi="27" file="845283DEST_PATH_IMAGE002.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>进行校准,得到精准<Image he="19" wi="27" file="703649DEST_PATH_IMAGE002.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>,后对电机实现无速度传感器控制,采用位置环、速度环、电流环进行位置控制,本发明利用阀门的全关和全开信号并通过电流内环的PI调节实现了感应电势系数的校准,减小了整体成本,提高了系统可靠性,可用于农业灌溉。(The invention discloses a speed sensorless control and parameter calibration method of an irrigation integrated intelligent valve in the field of electrical engineering, which comprises the following steps: 1) the motor adopts bipolar modulation to obtain the relation between the voltage of the motor terminal and the power supply voltage; 2) establishing a model motor based on a self-adaptive sliding mode observer; 3) obtaining a self-adaptive law of the estimated rotating speed by a Lyapunov nonlinear design method; 4) deducing a functional relation between the valve angle and the mechanical angular speed through the valve angle functional relation; 5) valve angle identification coefficient by changing valve opening between 0 and 1 Performing approximate estimation; 6) valve angle identification coefficient through current inner ring Calibrating to obtain accurate calibration The invention realizes the calibration of the induced potential coefficient by utilizing the full-off and full-on signals of the valve and the PI regulation of the current inner ring, reduces the overall cost, improves the system reliability and can be used for agricultural irrigation.)

1. A speed-sensor-free control and parameter calibration method for an irrigation integrated intelligent valve is characterized by comprising the following steps:

step 1) the motor adopts bipolar modulation, the duty ratio is d, and the relation between the voltage of the motor end and the power supply voltage is obtained;

step 2) establishing a model motor based on the adaptive sliding mode observer;

step 3) obtaining a self-adaptive law of the estimated rotating speed by a Lyapunov nonlinear design method;

step 4) deducing a functional relation between the valve angle and the mechanical angular speed through a valve angle functional relation;

step 5) making the valve opening change between 0 and 1 for K_uRoughly estimated, K_uIs an angle identification coefficient;

step 6) passing through the current inner ring pair K_uCalibrating to obtain accurate K_uAnd then the motor is controlled by a non-speed sensor, and three rings are adopted: position loop, speed loop and current loop to control position.

2. The method for speed sensorless control and parameter calibration of an integrated intelligent irrigation valve as claimed in claim 1, wherein the model motor in step 2) comprises an actual motor model and an estimated motor model:

the actual motor model is as follows:

establishing an estimated motor model:

wherein: u shape_tIs the motor terminal voltage; e_aIs a back electromotive force; i is_aIs the armature current; r_aIs an armature winding resistance;

3. The method for controlling the non-speed sensor and calibrating the parameters of the intelligent valve for irrigation integration according to claim 2, wherein the self-adaptation law in the step 3) is as follows:

wherein the content of the first and second substances,

4. The method for sensorless control and parameter calibration of an intelligent irrigation integrated valve as claimed in claim 3, wherein the functional relationship between the valve angle and the mechanical angular velocity in step 4) is:

wherein, K_grFor the transmission ratio of the reduction mechanism

5. The method for sensorless control and parameter calibration of an intelligent irrigation valve as claimed in claim 4, wherein the calibration K in step 6)_uWhen the motor is in the full-off state, a set current I is supplied to the motor_setSetting a current I_setLess than no-load current, enabling the motor to rotate, simultaneously starting the sliding mode identification observer, and calculating

The calculation process is as follows:

(a) directly applying rated voltage to the motor to enable the motor to turn over to a full-off state, namely theta (0) is 0;

(b) starting current control and sliding mode observation program to make motor rotate forward and calculate at the same time

(c) When the valve is fully open, theta (t)₁) When 1, the motor stops and the calculation stopsUsing between valve angle and mechanical angular velocityThe function relation can obtain K_u。

Technical Field

The invention relates to a permanent magnet direct current motor, in particular to a control method without a speed sensor.

Background

Modern agricultural irrigation is currently carrying out irrigation by directly conveying water to the field by utilizing pipelines, so that leakage and evaporation loss of water in channels are effectively avoided. However, if the real efficient utilization of water resources is to be realized, measures cannot be taken only in the transmission link of irrigation water (main ditch and pipeline irrigation), and to realize the efficient water saving of the pipeline irrigation, reliable application of water control and discharge equipment, an effective irrigation management system and a crop irrigation water demand model are required to be combined uniformly. The pipeline water drain valve (plug) is the last water control and drainage device in the field. For a long time, special design and research are lacked for field water control and drainage facilities such as field drainage ports, water diversion inspection wells and the like, and unified standards and related standard products are not available. At present, simple gate valves are generally adopted by the gates, and the modes and forms adopted by the simple gates are different. Some water stops are not good, some flow can not be regulated, and even if the flow can be regulated, the flow can not be measured. Some have the cost too high, there are the structure type of the totality single, the standard is not unified, a great deal of problems such as the management is inconvenient, especially the water waste is serious, have seriously restricted agricultural production's sustainable development, the intensification of water resource and the improvement of production efficiency.

The integrated measurement and control intelligent valve for irrigation is an automatic metering irrigation device integrating accurate metering, accurate control and remote real-time management and control, and is an important device for enhancing the intelligent control capability of channels and gates and improving the information management level of irrigation areas. The intelligent valve integrates functions of small-size gates, solar power supply, water level measurement, flow measurement, wireless communication, remote control, accurate flow control and the like, and is a basic support for gate linkage control and irrigation area informatization. The integrated measurement and control intelligent valve gate generally has the functions:

① support video collection, storage and transmission functions;

② supports various communication modes and can be flexibly networked;

③ supports open channel measurement, and realizes terminal water quantity control by controlling gate opening and accurately calculating gate flow;

④ supports local operation and remote control, and realizes remote control, fault alarm, information backup, automatic data report and other functions through technologies such as mobile phone APP, WEB platform and cloud storage;

⑤ supports various power supply modes, such as solar power supply, commercial power solar complementary power supply, wind-solar complementary power supply and the like;

⑥ the start-stop device, the control system, the water level gauge, the limit gauge and the like are integrally manufactured and integrated in a factory, the field installation and debugging are rapid, and the maintenance is convenient.

From above can see, if need realize real accurate regulation and control irrigation water with the valve for irrigation, the most basic function of integration valve is flow control, and flow control realizes through control valve aperture, and valve control needs accurate valve plate position or speed to detect, and small-size integration valve driving motor generally is direct current motor. The direct current motor is one of the main types of motors, and is widely applied to industries such as electric power, manufacturing, household appliances and the like due to good starting and speed regulation performance of the direct current motor. In order to realize high-precision position control, the speed and position regulation of the motor are generally introduced into closed-loop control, and speed feedback is an important parameter for realizing the closed-loop control of the motor and plays an indispensable role. At present, sensors such as a hall sensor, a photoelectric encoder and a tachogenerator are generally used for measuring and feeding back the rotating speed. The closed-loop control of the direct current motor is easy to realize by utilizing the sensing device, but certain defects such as increase of product cost, increase of the volume of the motor, increase of installation and maintenance difficulty and the like are inevitable.

Disclosure of Invention

The invention aims to provide a speed-sensor-free control and parameter calibration method of an irrigation integrated intelligent valve, which combines a model motor method, adopts a sliding mode control method to directly use the estimated rotating speed as a control quantity, and obtains the estimated rotating speed through low-pass filtering; the calibration of the induction potential coefficient is realized by utilizing full-off and full-on signals of the valve and PI regulation of the current inner ring, and the regulation of any opening degree of the valve is realized.

The purpose of the invention is realized as follows: a speed-sensor-free control and parameter calibration method for an irrigation integrated intelligent valve comprises the following steps:

step 1) the motor adopts bipolar modulation, the duty ratio is d, and the relation between the voltage of the motor end and the power supply voltage is obtained;

step 2) establishing a model motor based on the adaptive sliding mode observer;

step 3) obtaining a self-adaptive law of the estimated rotating speed by a Lyapunov nonlinear design method;

step 4) deducing a functional relation between the valve angle and the mechanical angular speed through a valve angle functional relation;

step 5) making the valve opening change between 0 and 1 for K_uRoughly estimated, K_uIs an angle identification coefficient;

step 6) passing through the current inner ring pair K_uCalibrating to obtain accurate K_uAnd then the motor is controlled by a non-speed sensor, and three rings are adopted: position loop, speed loop and current loop to control position.

As a further limitation of the present invention, the model motor in step 2) includes an actual motor model and an estimated motor model:

the actual motor model is as follows:

establishing an estimated motor model:

wherein: u shape_tIs the motor terminal voltage; e_aIs a back electromotive force; i is_aIs the armature current; r_aIs an armature winding resistance;

is the model motor armature current; u is estimated back electromotive force, and is regarded as control quantity in the invention; l is_aIs an armature winding inductance; omega_mIs the mechanical angular velocity.

As a further limitation of the present invention, the adaptation law in step 3) is:

wherein the content of the first and second substances,

φ_fis the induced potential coefficient.

As a further limitation of the invention, the functional relationship between the valve angle and the mechanical angular velocity in step 4) is:

wherein, K_grFor the transmission ratio of the reduction mechanism

As a further limitation of the invention, K is calibrated in step 6)_uWhen the motor is in the full-off state, a set current I is supplied to the motor_setSetting a current I_setLess than no-load current, enabling the motor to rotate, simultaneously starting the sliding mode identification observer, and calculatingWhen the motor is turned to the full-on state, reading

Motor rotation angle, i.e. can calculate calibration K_u；

The calculation process is as follows:

(a) directly applying rated voltage to the motor to enable the motor to turn over to a full-off state, namely theta (0) is 0;

(b) starting current control and sliding mode observation program to make motor rotate forward and calculate at the same time

(c) When the valve is fully open, theta (t)₁) When 1, the motor stops and the calculation stops

K can be obtained by using a functional relation between the valve angle and the mechanical angular velocity_u。

Compared with the prior art, the method has the beneficial effects that the estimated rotating speed is directly used as the control quantity by adopting a sliding mode control method, and then the estimated rotating speed is obtained through low-pass filtering; the calibration of the induction potential coefficient is realized by utilizing the full-closing and full-opening signals of the valve and the PI regulation of the current inner ring, the measurement and regulation of any opening degree of the valve are realized under the condition that a speed sensor is not installed, the overall cost is reduced, and the system reliability is improved. The invention can be used for agricultural irrigation.

Drawings

FIG. 1 is a control block diagram of the present invention.

FIG. 2 is a graph of the rotational speed of step 2 in the present invention.

FIG. 3 is a flowchart of the calibration of step 5 in the present invention.

Detailed Description

The following describes the embodiments of the present invention in detail.

A method for sensorless control of a permanent magnet dc motor, as shown in fig. 1-3, comprises the steps of:

step 1) the motor adopts bipolar modulation, the duty ratio is d, and the relation between the voltage of the motor end and the power supply voltage is obtained;

U_t＝d*U_in-(1-d)U_in＝(2d-1)U_in(1)

step 2) designing a sliding-mode observer

Establishing an actual motor model:

establishing an estimated motor model:

wherein: u shape_tIs the motor terminal voltage; e_aIs a back electromotive force; i is_aIs the armature current; r_aIs an armature winding resistance;

is the model motor armature current; u is estimated back electromotive force, and is regarded as control quantity in the invention; l is_aIs an armature winding inductance; omega_mIs the mechanical angular velocity; order to

ThenDefining the true current and the model motor error as

Subtracting the formula (4) from the formula (2), and if the motor parameters in the two formulas are completely consistent, obtaining:

the transformation yields:

in order to ensure that the current error in the formula (5) is 0, introducing a current observation error integral term, taking a Lyapunov function, and obtaining an adaptive law of the estimated rotating speed by a Lyapunov nonlinear design method, wherein the Lyapunov function is defined as follows:

wherein, K_iAnd (3) obtaining the current observation error integral term coefficient by derivation:

when in use

Stability in the Lyapunov sense is met; the reaction is not allowed to proceed:

k is a proportionality coefficient, and K should satisfy more than the maximum induced potential, i.e.: k > max (E)_a)，Obtaining:

when the two motors are completely synchronous, there are(6) Is obtained by

The conversion yields the adaptive law of the estimated mechanical angular velocity as:

at the same time obtain

In order to reduce the fluctuation of sliding mode control, the formulas (9) and (10) describe that sign functions adopt approximate sign functions, and the formula (12) is satisfied:

u obtained in step 3) is a high-frequency square wave signal which can be used as omega only by filtering_mAn estimated value of, i.e.

The invention adopts a low-pass filtering method, and mathematical function formulas of the low-pass filtering method meet the following relations;

u_f(k)＝αu_f(k-1)+(1-α)u(k)。 (13)

mechanical angular velocity omega obtained in step 4)_mDue to the fact that

The measurement and calculation cannot be carried out, and the actual rotation angle of the motor is not required to be measured in the actual valve, but only the opening degree and the opening degree of the valve are required to be measuredTo be 0-1, the invention provides a valve transmission ratio

Considering uniformly, if the valve opening is θ (t), the relationship between the valve opening and the mechanical angular velocity is:

wherein K_grFor the transmission ratio of the reduction mechanism

K contained in step 5)_uIt cannot be measured and therefore needs to be calculated and calibrated. The valve is fully opened to 1 and fully closed to 0, the opening degree is changed between 0 and 1, the fully opened state and the fully closed state of the valve are both output by auxiliary contacts, and the fully opened (1) and the fully closed state (0) can be determined by detecting the states of the auxiliary contacts; calibration K_uWhen the motor is in the full-off state, a set current I is supplied to the motor_set(the set current is less than the no-load current) to enable the motor to rotate, and simultaneously, the sliding mode identification observer is started to calculate

When the motor is turned to the full-on state, reading

Motor rotation angle, i.e. can calculate calibration K_u；

The calculation process is as follows:

a) directly applying rated voltage to the motor to enable the motor to turn over to a full-off state, namely theta (0) is 0;

b) starting current control and sliding mode observation program to make motor rotate forward and calculate at the same time

c) When the valve is fully open, theta (t)₁) When 1, the motor is stopped and simultaneouslyStopping computationK can be obtained by the expression (14)_u。

The accurate K obtained in the step 6)_uThe motor can be controlled without a speed sensor through three rings (a position ring, a speed ring and a current ring).

The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.