阅读说明：本技术 基于有限控制集无传感器的压力机全闭环控制系统与方法 (Press machine full closed-loop control system and method based on limited control set sensorless ) 是由 李琦 高建波 关胜 王启武 贾中青 李海明 马玉慧 于 2019-10-31 设计创作，主要内容包括：本发明属于控制技术和金属成形技术领域,具体涉及到一种基于有限控制集无传感器的压力机全闭环控制系统与方法。本发明将成形工艺曲线与滑块实际位置之差作为整机控制系统控制指令位置输入,建立动力学模型,进行转矩的计算,作为转矩预测控制算法的输入。本发明在伺服电机驱动器中设置了无传感控制算法模块和有限控制集的预测转矩算法模块,计算转速和电磁转矩预测值,最终得到价值函数,可将滑块位置信息加入到价值函数中控制滑块的位置不出现超调现象,动态性能明显提升,电机伺服驱动器的抗干扰性能提升并且可靠性也显著提高,伺服电机成本大幅降低。(The invention belongs to the technical field of control technology and metal forming, and particularly relates to a full closed-loop control system and method of a press machine based on a limited control set and a sensorless control set. The difference between the forming process curve and the actual position of the sliding block is used as the control instruction position input of the whole machine control system, a dynamic model is established, and the calculation of the torque is performed and used as the input of a torque prediction control algorithm. The servo motor driver is provided with the non-sensing control algorithm module and the prediction torque algorithm module with a limited control set, the rotating speed and the electromagnetic torque predicted value are calculated, the value function is finally obtained, the position information of the sliding block can be added into the value function to control the position of the sliding block not to generate the overshoot phenomenon, the dynamic performance is obviously improved, the anti-interference performance of the motor servo driver is improved, the reliability is also obviously improved, and the cost of the servo motor is greatly reduced.)

1. A press machine full closed-loop control system based on a limited control set sensorless comprises a servo press machine, wherein a whole machine electric control system (1) of the servo press machine is connected with a human-computer interaction platform (2), and the human-computer interaction platform (2) inputs process curve key points and transmits the process curve key points to the whole machine electric control system (1) and displays key state information; the whole machine electric control system (1) is connected with a servo motor driver (3), the servo motor driver (3) receives a control instruction from the whole machine electric control system (1), the servo motor driver (3) is connected with a servo motor (4) through a cable, the servo motor (4) is rigidly connected with a speed reducing mechanism, the speed reducing mechanism is connected with a connecting rod mechanism, and the connecting rod mechanism is connected with a sliding block (6); the two sides of the sliding block (6) are provided with balance cylinders (5), the sliding block (6) is provided with a die adjusting motor (7), the die adjusting motor (7) is used for finishing fine adjustment of the sliding block (6) of the servo press, a sliding block position sensor (8) is arranged near the position of the sliding block (6), the sliding block position sensor (8) is connected with the whole machine electric control system (1), and the sliding block position sensor (8) transmits feedback information of the actual position of the sliding block (6) to the whole machine electric control system (1); the servo motor driver is added with a position sensorless control algorithm module based on a limited control set, and the position sensorless control algorithm module based on the limited control set comprises a sensorless control algorithm module and a torque prediction control algorithm module of the limited control set:

a sensorless control algorithm module: carrying out current sampling and signal processing; discretizing a state equation of the induction motor, estimating the rotating speed, and transmitting the finally estimated rotating speed result to a torque prediction control algorithm module of a limited control set as input;

a limited control set torque prediction control algorithm module: taking the given torque output of the dynamic model and the estimated value output of the sensorless control algorithm module to the rotating speed as input; and predicting the electromagnetic torque, calculating to obtain a cost function, and adding the position information of the slide block (6) into the cost function to control the position of the slide block (6) not to generate overshoot linearity.

2. The limited control set sensorless based press full closed loop control system of claim 1 wherein: the slide block position sensor (8) is a high-precision grating ruler or a magnetic linear position sensor.

3. The limited control set sensorless based press full closed loop control system according to claim 1 or 2, a limited control set sensorless based press full closed loop control method, comprising the steps of:

the method comprises the following steps: inputting process curve key points on a human-computer interaction platform (2) and transmitting the process curve key points to a complete machine electric control system (1) of the servo press;

step two: the whole machine electric control system (1) generates a process curve which accords with the kinematics of the servo press from the process curve key points input by the human-computer interaction platform (2) according to the constraint conditions of the servo press, outputs a result as a forming process curve, and realizes the forming process curve by using a process curve interpolation algorithm in the whole machine electric control system (1);

step three: establishing a dynamic model in the whole machine electric control system (1), taking the difference between a forming process curve and the actual position of the sliding block (6) as the input of the dynamic model, feeding the actual position of the sliding block (6) back to the whole machine electric control system (1) after being collected by a sliding block position sensor (8), and calculating and outputting a given torque according to the dynamic model;

step four: the sensorless control algorithm module estimates the rotating speed of the servo motor, the estimated value of the rotating speed is used as the input of the torque prediction control algorithm module based on the limited control set, and the given torque output in the step three is used as the input of the torque prediction control algorithm module of the limited control set; and then the torque predictive control algorithm module of the limited control set carries out predictive calculation on the electromagnetic torque to obtain an electromagnetic torque predicted value, a stator voltage equation and a stator current equation are obtained through the electromagnetic torque predicted value to further obtain a value function of the next optimal control law, and the torque predictive control algorithm module of the limited control set adds the position information of the sliding block (6) into the value function to control the position of the sliding block (6) not to generate overshoot.

4. The limited control set sensorless based full closed loop control method of a press according to claim 3, wherein: and in the second step, generating a smooth forming process curve through a piecewise polynomial curve interpolation algorithm.

5. The limited control set sensorless based full closed loop control method of a press according to claim 3, wherein: in the third step, a dynamic model of the servo press is established by utilizing Lagrange's theorem, Hamilton's theorem and Jacobian matrix.

6. The limited control set sensorless based full closed loop control method of a press according to claim 3, wherein: in the third step, the output given torque is the motor torque or can be linearly converted into the result of the torque.

7. The limited control set sensorless based full closed loop control method of a press according to claim 3, wherein: in the third step, the dynamic model combines the geometric limitation and the complete constraint relation, the reasonable degree of freedom is selected to be 1, and the crank angle is utilized to directly simplify the expression of the crank connecting rod into the form of a mathematical equation.

8. The limited control set sensorless based full closed loop control method of a press according to claim 3, wherein: in the fourth step, the estimation calculation of the rotating speed of the servo motor by the sensorless control algorithm module comprises the following steps:

step A: discretizing a state equation of the induction motor;

and B: and carrying out estimation calculation on the rotating speed.

9. The limited control set sensorless based full closed loop control method of a press according to claim 8, wherein: the estimation calculation of the rotating speed in the step B comprises the following steps: 1) calculating a state prediction value; 2) a state covariance matrix; 3) calculating a Kalman gain matrix; 4) estimating a state vector; 5) the state covariance matrix is updated.

10. The limited control set sensorless based full closed loop control method of a press according to claim 3, wherein: in the fourth step, the torque prediction control algorithm of the limited control set comprises the following steps:

and C: taking the estimated value of the rotating speed in the step four and the given torque output in the step three as the input of a torque prediction control algorithm module of a limited control set;

step D: calculating a predicted value of the electromagnetic torque;

step E: and obtaining a squirrel-cage stator voltage equation and a stator current equation according to the predicted value of the electromagnetic torque, and finally obtaining a value function.