阅读说明：本技术 扇门模块的伺服控制方法、装置、电子设备及存储介质 (Servo control method and device for door leaf module, electronic equipment and storage medium ) 是由 陈志锋 彭树林 于 2019-11-04 设计创作，主要内容包括：本申请实施例公开了一种扇门模块的伺服控制方法、装置、电子设备及存储介质。本申请实施例通过计算限制直驱伺服电机的直轴电压幅值和交轴电压幅值,实现对直驱伺服电机最大运行力矩的设置,实现闸机扇门模块闭环直驱伺服驱动控制过程中的位置环力矩控制或速度环力矩控制,使得闸机扇门模块在开关门运行时,提供一个较小的运行力矩,以避免力矩过大导致扇门强力冲击人体,对身体造成伤害的情况,并使得闸机扇门模块在停止位置锁定时,提供一个较大的运行力矩,以得到较好的扇门模块停止位置锁定效果,避免力矩偏小导致扇门很容易被人为推开,进而优化用户的使用体验。(The embodiment of the application discloses a servo control method and device of a door leaf module, electronic equipment and a storage medium. According to the embodiment of the application, the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor are limited through calculation, the setting of the maximum operation torque of the direct-drive servo motor is realized, the position ring torque control or the speed ring torque control in the process of closed-loop direct-drive servo drive control of the gate fan door module is realized, when the gate fan door module is used for opening and closing the door, a small operation torque is provided, the situation that the door is impacted by a strong force due to overlarge torque is avoided, the injury to a body is caused, when the gate fan door module is locked at a stopping position, a large operation torque is provided, the good effect of stopping the position locking of the door module is obtained, the situation that the door is pushed away by people easily due to the overlarge torque is avoided, and the use experience of a user is optimized.)

1. A servo control method for a door module, comprising:

switching between a position loop mode and a speed loop mode according to the running state and the stroke position of the door sash module, and calculating a direct axis current target reference value and a quadrature axis current target reference value of the direct-drive servo motor based on the actual input quantity and the target input quantity under the control of the position loop mode or the speed loop mode;

extracting corresponding three-phase stator currents in real time, and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of the direct-drive servo motor based on the three-phase stator currents, the direct axis current target reference value and the quadrature axis current target reference value;

and limiting the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor through PID integral calculation according to the direct-axis voltage target reference value and the quadrature-axis voltage target reference value, and calculating an output voltage vector through an inverse PARK conversion and SVPWM module so as to perform vector control on the three-phase stator voltage of the direct-drive servo motor.

2. The servo control method of the door leaf module as claimed in claim 1, wherein the position loop mode of the actual input quantity corresponding to the direct drive servo motor is an actual position input quantity, the speed loop mode of the actual input quantity corresponding to the direct drive servo motor is an actual speed input quantity, the actual position input quantity and the actual speed input quantity are respectively obtained in real time by two parallel timers, and the timers are timers in an encoder interface mode.

3. The servo control method of a door fan module according to claim 1, wherein the calculating of the direct axis current target reference value and the quadrature axis current target reference value of the direct drive servo motor based on the actual input amount and the target input amount under the control of the position loop mode or the speed loop mode comprises:

extracting actual input quantity and target input quantity of the direct-drive servo motor under the control of a position loop mode or a speed loop mode;

and comparing the difference between the actual input quantity and the target input quantity, and sending the difference comparison result to a torque and flux linkage controller to calculate a direct axis current target reference value and a quadrature axis current target reference value of the direct-drive servo motor.

4. The servo control method of a door leaf module according to claim 1, wherein the extracting corresponding three-phase stator currents in real time, and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of a direct drive servo motor based on the three-phase stator currents, the direct axis current target reference value and the quadrature axis current target reference value comprises:

performing CLARKE transformation and PARK transformation on the three-phase stator current;

and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of the direct-drive servo motor by taking the direct axis current target reference value and the quadrature axis current target reference value as references.

5. The servo control method of a door module as claimed in claim 4, wherein the CLARKE transformation and PARK transformation of the three-phase stator currents comprises:

i of the three-phase stator current_aAnd i_bObtaining corresponding i by performing coordinate axis transformation by using CLARKE transformation as input quantity_αAnd i_β；

With i_αAnd i_βCoordinate axis conversion is performed by using PARK conversion as input quantity to obtain corresponding direct axis current component and quadrature axis current component.

6. The servo control method of a door leaf module according to claim 5, wherein the extracting corresponding three-phase stator currents in real time, and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of a direct drive servo motor based on the three-phase stator currents, the direct axis current target reference value and the quadrature axis current target reference value comprises:

calculating a direct-axis voltage target reference value of the direct-drive servo motor by taking the direct-axis current target reference value as a reference for the direct-axis current component of the three-phase stator current after CLARKE conversion and PARK conversion;

and calculating a quadrature axis voltage target reference value of the direct-drive servo motor by taking the quadrature axis current target reference value as a reference for quadrature axis current components of the three-phase stator current after CLARKE conversion and PARK conversion.

7. The servo control method of a door leaf module according to claim 1, wherein the limiting of the direct axis voltage amplitude and the quadrature axis voltage amplitude of the direct drive servo motor by PID integral calculation according to the direct axis voltage target reference value and the quadrature axis voltage target reference value comprises:

and according to the position loop mode or the speed loop mode of the direct-drive servo motor, selecting a preset torque current value in the corresponding mode, and according to the direct-axis voltage target reference value and the quadrature-axis voltage target reference value, limiting the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor under the corresponding mode through PID integral calculation.

8. A servo control apparatus for a door module, comprising:

the first calculation module is used for switching between a position loop mode and a speed loop mode according to the running state and the stroke position of the door leaf module, and calculating a direct axis current target reference value and a quadrature axis current target reference value of the direct-drive servo motor based on the actual input quantity and the target input quantity under the control of the position loop mode or the speed loop mode;

the second calculation module is used for extracting corresponding three-phase stator currents in real time and calculating a direct-axis voltage target reference value and a quadrature-axis voltage target reference value of the direct-drive servo motor based on the three-phase stator currents, the direct-axis current target reference value and the quadrature-axis current target reference value;

and the output module is used for limiting the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor through PID integral calculation according to the direct-axis voltage target reference value and the quadrature-axis voltage target reference value, and calculating an output voltage vector through inverse PARK conversion and the SVPWM module so as to perform vector control on the three-phase stator voltage of the direct-drive servo motor.

9. An electronic device, comprising:

a memory and one or more processors;

the memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement a method of servo control of a door module as claimed in any one of claims 1 to 7.

10. A storage medium containing computer executable instructions for performing the servo control method of a door module according to any one of claims 1 to 7 when executed by a computer processor.

Technical Field

The embodiment of the application relates to the technical field of servo control, in particular to a servo control method and device for a door leaf module, electronic equipment and a storage medium.

Background

At present, gates are arranged in many places in the life of people to realize intelligent channel management. The gate machine is internally provided with a servo control board and a direct-drive servo motor, the servo control board is used for driving and controlling the direct-drive servo motor to form a closed-loop direct-drive servo drive control system, and the synchronous control of the stop position locking and the door opening and closing operation of the door leaf module is realized through the position loop control and the speed loop control of the closed-loop direct-drive servo drive control system.

However, in the operation process of the closed-loop direct-drive servo drive control system of the existing gate, when the gate module is controlled to open and close the gate, the situation that people are clamped and the like impact a human body by strong force easily occurs, and further personal injury is caused.

Disclosure of Invention

The embodiment of the application provides a servo control method and device for a door leaf module, electronic equipment and a storage medium, and can realize torque control of the gate door leaf module in a position loop or speed loop mode direct-drive servo drive control process.

In a first aspect, an embodiment of the present application provides a servo control method for a door module, including:

switching between a position loop mode and a speed loop mode according to the running state and the stroke position of the door sash module, and calculating a direct axis current target reference value and a quadrature axis current target reference value of the direct-drive servo motor based on the actual input quantity and the target input quantity under the control of the position loop mode or the speed loop mode;

extracting corresponding three-phase stator currents in real time, and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of the direct-drive servo motor based on the three-phase stator currents, the direct axis current target reference value and the quadrature axis current target reference value;

and limiting the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor through PID integral calculation according to the direct-axis voltage target reference value and the quadrature-axis voltage target reference value, and calculating an output voltage vector through an inverse PARK conversion and SVPWM module so as to perform vector control on the three-phase stator voltage of the direct-drive servo motor.

Further, the actual input quantity is an actual position input quantity corresponding to a position loop mode of the direct-drive servo motor, the actual input quantity is an actual speed input quantity corresponding to a speed loop mode of the direct-drive servo motor, the actual position input quantity and the actual speed input quantity are respectively obtained in real time through two parallel timers, and the timers are timers in an encoder interface mode.

Further, the calculating a direct axis current target reference value and a quadrature axis current target reference value of the direct drive servo motor based on the actual input quantity and the target input quantity under the control of the position loop mode or the speed loop mode includes:

extracting actual input quantity and target input quantity of the direct-drive servo motor under the control of a position loop mode or a speed loop mode;

and comparing the difference between the actual input quantity and the target input quantity, and sending the difference comparison result to a torque and flux linkage controller to calculate a direct axis current target reference value and a quadrature axis current target reference value of the direct-drive servo motor.

Further, the extracting the corresponding three-phase stator current in real time, and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of the direct-drive servo motor based on the three-phase stator current, the direct axis current target reference value and the quadrature axis current target reference value includes:

performing CLARKE transformation and PARK transformation on the three-phase stator current;

and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of the direct-drive servo motor by taking the direct axis current target reference value and the quadrature axis current target reference value as references.

Further, the CLARKE transformation and PARK transformation of the three-phase stator current includes:

i of the three-phase stator current_aAnd i_bObtaining corresponding i by performing coordinate axis transformation by using CLARKE transformation as input quantity_αAnd i_β；

With i_αAnd i_βCoordinate axis conversion is performed by using PARK conversion as input quantity to obtain corresponding direct axis current component and quadrature axis current component.

Further, the extracting the corresponding three-phase stator current in real time, and calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of the direct-drive servo motor based on the three-phase stator current, the direct axis current target reference value and the quadrature axis current target reference value includes:

calculating a direct-axis voltage target reference value of the direct-drive servo motor by taking the direct-axis current target reference value as a reference for the direct-axis current component of the three-phase stator current after CLARKE conversion and PARK conversion;

and calculating a quadrature axis voltage target reference value of the direct-drive servo motor by taking the quadrature axis current target reference value as a reference for quadrature axis current components of the three-phase stator current after CLARKE conversion and PARK conversion.

Further, the limiting the direct axis voltage amplitude and the quadrature axis voltage amplitude of the direct drive servo motor through PID integral calculation according to the direct axis voltage target reference value and the quadrature axis voltage target reference value includes:

and according to the position loop mode or the speed loop mode of the direct-drive servo motor, selecting a preset torque current value in the corresponding mode, and according to the direct-axis voltage target reference value and the quadrature-axis voltage target reference value, limiting the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor under the corresponding mode through PID integral calculation.

In a second aspect, an embodiment of the present application provides a servo control device for a door module, including:

the first calculation module is used for switching between a position loop mode and a speed loop mode according to the running state and the stroke position of the door leaf module, and calculating a direct axis current target reference value and a quadrature axis current target reference value of the direct-drive servo motor based on the actual input quantity and the target input quantity under the control of the position loop mode or the speed loop mode;

the second calculation module is used for extracting corresponding three-phase stator currents in real time and calculating a direct-axis voltage target reference value and a quadrature-axis voltage target reference value of the direct-drive servo motor based on the three-phase stator currents, the direct-axis current target reference value and the quadrature-axis current target reference value;

and the output module is used for limiting the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor through PID integral calculation according to the direct-axis voltage target reference value and the quadrature-axis voltage target reference value, and calculating an output voltage vector through inverse PARK conversion and the SVPWM module so as to perform vector control on the three-phase stator voltage of the direct-drive servo motor.

In a third aspect, an embodiment of the present application provides an electronic device, including:

a memory and one or more processors;

the memory for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors implement the servo control method of the door module according to the first aspect.

In a fourth aspect, embodiments of the present application provide a storage medium containing computer-executable instructions for performing the servo control method of a door module according to the first aspect when executed by a computer processor.

The embodiment of the application switches the position ring mode and the speed ring mode through the running state and the travel position of the door leaf module, calculating a direct axis current target reference value and a quadrature axis current target reference value of the direct-drive servo motor based on the actual input quantity and the target input quantity under the control of the position loop mode or the speed loop mode, calculating a direct axis voltage target reference value and a quadrature axis voltage target reference value of the direct-drive servo motor based on the three-phase stator current, the direct axis current target reference value and the quadrature axis current target reference value, and the direct axis voltage amplitude and the quadrature axis voltage amplitude of the direct drive servo motor are limited through PID integral calculation according to the direct axis voltage target reference value and the quadrature axis voltage target reference value, and further calculating an output voltage vector by using the direct axis voltage amplitude and the quadrature axis voltage amplitude so as to realize vector control on the three-phase stator voltage of the direct-drive servo motor. By adopting the technical means, the setting of the maximum operation torque of the direct-drive servo motor is realized by calculating and limiting the direct-axis voltage amplitude and the quadrature-axis voltage amplitude of the direct-drive servo motor, the position loop torque control or the speed loop torque control in the closed-loop direct-drive servo drive control process of the gate fan door module is realized, so that a smaller operation torque is provided when the gate fan door module is operated for opening and closing the door, the situation that the door strongly impacts a human body and damages the body due to overlarge torque is avoided, a larger operation torque is provided when the gate fan door module is locked at a stopping position, a better door module stopping position locking effect is obtained, the situation that the door is easily pushed away by people due to the overlarge torque is avoided, and the use experience of a user is optimized.

Drawings

Fig. 1 is a flowchart of a servo control method for a door module according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of torque control of the position ring according to the first embodiment of the present application;

FIG. 3 is a flowchart illustrating the calculation of the current target reference value according to the first embodiment of the present application;

FIG. 4 is a detailed flow chart of the current component conversion in the first embodiment of the present application;

FIG. 5 is a flow chart of torque control of the speed ring according to the first embodiment of the present application;

fig. 6 is a schematic structural diagram of a servo control device of a door module according to a second embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to a third embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

The application provides a servo control method of a door leaf module, which aims to obtain a direct axis voltage amplitude and a quadrature axis voltage amplitude for limiting a direct drive servo motor through calculation so as to set a corresponding maximum operation torque value of the direct drive servo motor, realize torque loop control in a closed-loop direct drive servo drive control process of the door leaf module of a gate, and provide a smaller torque when the door leaf module is opened and closed so as to avoid the situation that the door leaf strongly impacts a human body due to overlarge torque. And simultaneously, when the door leaf module is locked, enough torque is provided to open the door leaf module. Compared with the servo control system of the existing gate, the servo control system does not consider the running moment of the door leaf module when realizing position loop control or speed loop control, so that strong impact force is generated due to overlarge moment of the door leaf module when the gate is in servo control. If the user is passing through the brake, the strong impact force is likely to impact the body of the user, and further cause personal injury to the user. In addition, when the door leaf module is locked at the stop position, because position ring torque control is not performed, a large enough running torque cannot be provided, accurate locking of the position of the door leaf module is difficult to achieve, and the door leaf module cannot be opened strongly with a set strong opening force. Based on this, the servo control method of the door leaf module in the embodiment of the present application is provided, and the torque loop control is combined with the position loop control or the speed loop control, so as to solve the technical problem of operating the torque control in the position loop mode and the speed loop mode in the corresponding servo control mode.