A kind of magnetic flux switching permanent-magnetism linear motor disturbance-observer Front feedback control method
阅读说明：本技术 一种磁通切换永磁直线电机干扰观测前馈补偿控制方法 (A kind of magnetic flux switching permanent-magnetism linear motor disturbance-observer Front feedback control method ) 是由 程明 王飒飒 张邦富 丁石川 于 2019-07-24 设计创作，主要内容包括：本发明公开了一种磁通切换永磁直线电机干扰观测前馈补偿控制方法,属于电机控制技术领域。本发明基于磁通切换永磁直线电机的离散数学模型,根据磁通切换永磁直线电机电流和位置信号,利用扩展卡尔曼设计干扰观测器观测出定位力和其他干扰力,进行前馈补偿。本发明利用扩展卡尔曼滤波设计出定位力和其他力扰动观测器对其进行观测并进行补偿,能够克服动子质量、推力系数、库伦摩擦力、粘滞摩擦系数以及其他不确定因素的影响,且采用观测器观测出的速度作为速度反馈,较传统M法测得的速度更为平滑,减小了动子直线速度响应误差。本控制方法可采用通用硬件实现,便于推广应用。(The invention discloses a kind of magnetic fluxs to switch permanent-magnetism linear motor disturbance-observer Front feedback control method, belongs to motor control technology field.The present invention is based on the discrete models of magnetic flux switching permanent-magnetism linear motor, switch permanent-magnetism linear motor electric current and position signal according to magnetic flux, observe detent force and other perturbed forces using spreading kalman design interference observer, carry out feedforward compensation.The present invention designs detent force using Extended Kalman filter and other force-disturbance observers are observed and compensate to it, the influence of mover quality, thrust coefficient, Coulomb friction power, viscous friction coefficient and other uncertain factors can be overcome, and the speed observed using observer is as velocity feedback, the speed that more traditional M method measures is more smooth, reduces mover space rate response error.General hardware implementation can be used in this control method, easy to promote and utilize.)
1. a kind of magnetic flux switches permanent-magnetism linear motor disturbance-observer Front feedback control method, characterization step is:
Step 1: establishing the simplification kinetics equation of magnetic flux switching permanent-magnetism linear motor, and provide detent force and other interference Equation including parameter uncertainty；
Step 2: according to magnetic flux switch permanent-magnetism linear motor kinetics equation be based on Extended Kalman filter Design Orientation power with And interference observer, and observe detent force and interference, calculate compensation electric current；
Step 3: calculated compensation electric current is sent into electric current loop, carries out magnetic flux and switch permanent-magnetism linear motor vector controlled.
2. a kind of magnetic flux switches permanent-magnetism linear motor disturbance-observer Front feedback control method according to claim 1, special Sign is the simplification kinetics equation of the step one magnetic flux switching permanent-magnetism linear motor, specific as follows:
The simplification nominal power equation of the magnetic flux switching permanent-magnetism linear motor are as follows:
In formula: v is mover space rate, MoFor electric mover nominal mass, kfoFor the nominal thrust coefficient of motor, FcoFor motor mark Claim Coulomb friction power, DoFor the nominal viscous friction coefficient of motor, iqFor the q shaft current of motor, FcogFor the detent force of motor, Fext For other perturbed forces of motor；
Formula (1) is written as preset parameter model form are as follows:
In formula: M is that motor surveys mover quality, Δ M=Mo- M, kfFor motor thrust coefficient, Δ kf=kfo-kf, FcFor motor reality Survey Coulomb friction power, D be motor survey coefficient of friction, ε be uncertain factor include electric mover quality, force oscillation coefficient, Coulomb friction power, viscous friction coefficient and other model uncertain factors.
3. a kind of magnetic flux switches permanent-magnetism linear motor disturbance-observer Front feedback control method according to claim 1, special Sign is, is included the following steps: described in step 2 using spreading kalman Design Orientation power and interference observer
Step 201: choosing speed, displacement and the detent force of motor as observation state vector；In a control cycle TsIt is interior, it can The variable quantity of detent force is seen as 0,
It enablesThen have:
Wherein,U=[kfiq-Mg-Fc], Y=[x].
Step 202: formula (4) discretization is obtained:
Wherein, V (k) is system noise, and W (k) is measurement noise, and V (k) and W (k) are white zero noises, be that is to say: E { V (k) }=0, E { W (k) }=0, E { V (k) V (k)T}=Q, E { W (k) W (k)T}=R.
Step 203: status predication and state correction stage:
State vector is predicted:
The k+1 moment is asked to export:
Calculate covariance matrix:
Wherein: F (k)=diag (1 1 1)+TA；
Calculate gain matrix:
K+1 state vector is corrected:
Calculate the covariance matrix of next step:
4. a kind of magnetic flux switches permanent-magnetism linear motor disturbance-observer Front feedback control method according to claim 1, special Sign is that the compensation electric current of the switching permanent-magnetism linear motor vector controlled of magnetic flux described in step 3 is true on the basis of step 2 Fixed, the influence of thrust coefficient itself is eliminated, and velocity feedback is the observation speed of Kalman's observer, angle feed-back is card The observation angle of Germania observer.
Technical field
The present invention relates to a kind of magnetic fluxs to switch permanent-magnetism linear motor disturbance-observer Front feedback control method, belongs to motor control Technical field processed.
Background technique
Magnetic flux switching Permanent Magnet Linear Servo Motor System eliminates mechanical transmission mechanism, and load is directly led to switching with permanent magnetism The mover of permanent-magnetism linear motor is connected, using Zero-drive Chain mode, although eliminate the flexible deformation of intermediate transmission mechanism, gap, Influence of the factors such as inertia to system, but at the same time, the variation of load and external disturbance are also without any intermediate link Decay and be applied directly on linear motor, influences the performance of electric system.Permanent-magnetism linear motor, motor are switched for magnetic flux The speed of son is essential feedback quantity in closed-loop control system.Traditional encoder tests the speed calculation method such as M method, T method, MT The speed-measuring methods such as combined techniques are all based on the average value that difference algorithm solves mover, cause revolving speed calculated value there are error and Phase delay, to affect the dynamic and static state performance of magnetic flux switching permanent-magnetism linear motor to a certain extent.In order to reduce conventional measurement Fast method there are the problem of, generally use wave digital lowpass filter and inhibit noise, but not can be implemented simultaneously and inhibit noise and to subtract The influence of small delay.
In order to realize high-precision speed control, inhibit velocity perturbation, more the most commonly used is be based on LuGre in the prior art Friction model compensates and designs DOB observer and compensates；LuGre friction model is Dynamic friction model, dependent on electricity The parameters such as viscous friction coefficient, Coulomb friction power in machine mathematical models；DOB observer depends on motor mathematical models Middle mover quality and thrust coefficient, and the second-order low-pass filter introduced influences the dynamic and static properties of system.More than being based on The system performance of two kinds of compensation methodes is easy to be influenced by Parameters variation and various uncertain factors.In addition, in order to solve to pass The shortcomings that system speed-measuring method, scholars propose the methods of a variety of observation revolving speeds, such as nonlinear observer, sliding mode observer. And the measurement noise of encoder is considered as white Gaussian noise, Kalman filtering algorithm as a kind of linear minimum-variance estimation, Using recursive algorithm, a large amount of memory space is not needed, and has lesser dependence to model, therefore, is observed in system speed Aspect has obtained relatively broad application.Therefore, the present invention is based on Kalman filtering algorithms to devise motor speed, disturbance-observer Device improves the control precision and interference free performance of motor speed control system.
Summary of the invention
The purpose of the present invention is being directed to the deficiency of above-mentioned background technique, it is dry to provide a kind of magnetic flux switching permanent-magnetism linear motor Disturb observation Front feedback control method, based on Extended Kalman filter design detent force and other disturbance observers to its into Row observe simultaneously compensate, can overcome mover quality, thrust coefficient, Coulomb friction power, viscous friction coefficient and other not The speed for determining the influence of factor, and being observed using observer as velocity feedback, avoid traditional M method test the speed in differential Process and filtering, the speed that more traditional M method measures is more smooth, reduces mover space rate response error, improves The control precision and interference free performance of electric machine control system.
A kind of the technical solution adopted by the present invention are as follows: magnetic flux switching permanent-magnetism linear motor disturbance-observer Front feedback control side Method includes the following steps:
Step 1: establishing the simplification kinetics equation of magnetic flux switching permanent-magnetism linear motor, and provide detent force and other Interference includes the equation of parameter uncertainty；
The simplification kinetics equation of vertical operation magnetic flux switching permanent-magnetism linear motor, specific as follows:
The simplification nominal power equation of the magnetic flux switching permanent-magnetism linear motor are as follows:
In formula: v is mover space rate, MoFor electric mover nominal mass, kfoFor the nominal thrust coefficient of motor, FcoFor electricity The nominal Coulomb friction power of machine, DoFor the nominal viscous friction coefficient of motor, iqFor the q shaft current of motor, FcogFor the detent force of motor, FextFor other perturbed forces of motor；
Formula (1) is written as preset parameter model form are as follows:
In formula: M is that motor surveys mover quality, Δ M=Mo- M, kfFor motor thrust coefficient, Δ kf=kfo-kf, FcFor electricity Machine surveys Coulomb friction power, and D is that motor surveys coefficient of friction, and ε is that uncertain factor includes electric mover quality, force oscillation system Number, Coulomb friction power, viscous friction coefficient and other model uncertain factors.
Step 2: according to magnetic flux switch permanent-magnetism linear motor kinetics equation using spreading kalman Design Orientation power with And interference observer, and observe detent force and interference, calculate compensation electric current；
It is described to be included the following steps: using the fluctuation of spreading kalman design thrust and interference observer
Step 201: choosing speed, displacement and the detent force of motor as observation state vector；In a control cycle Ts It is interior, the variable quantity of detent force can be seen as 0,
It enablesThen have:
Wherein,U=[kfiq-Mg-Fc], Y=[x].
Step 202: formula (4) discretization is obtained:
Wherein, V (k) is system noise, and W (k) is measurement noise, and V (k) and W (k) are white zero noises, be that is to say: E { V (k) }=0, E { W (k) }=0, E { V (k) V (k)T}=Q, E { W (k) W (k)T}=R.
Step 203: status predication and state correction stage:
State vector is predicted:
The k+1 moment is asked to export:
Calculate covariance matrix:
Wherein: F (k)=diag (1 1 1)+TA；
Calculate gain matrix:
K+1 state vector is corrected:
Calculate the covariance matrix of next step:
Step 3: calculated compensation electric current is sent into electric current loop, carries out vertical operation magnetic flux and switch permanent-magnetism linear motor Vector controlled.It is described it is vertical operation magnetic flux switching permanent-magnetism linear motor vector controlled compensation electric current be observed in step 2 it is dry It is determined on the basis of disturbing, eliminates the influence of thrust coefficient itself, and velocity feedback is the observation speed of Kalman's observer, Angle feed-back is the observation angle of Kalman's observer.
The present invention by adopting the above technical scheme, has the advantages that
(1) interference observer that the present invention designs overcomes thrust coefficient, mover quality, viscous friction coefficient, coulomb and rubs The influence for wiping the model parameters such as power, compensates for LuGre model friciton compensation and DOB interference observer relies on motor accurate mathematical mould The shortcomings that type, preferably inhibits the influence of non-linear friction；
(2) speed that the present invention is observed using observer is as velocity feedback, avoid traditional M method test the speed in differential Process and filtering, the speed that more traditional M method measures is more smooth, reduces mover space rate response error, improves The control precision and interference free performance of electric machine control system.
Detailed description of the invention
Fig. 1 is the interference observer Front feedback control block diagram based on EKF；
Fig. 2 noiseless observer feedforward compensation experimental waveform figure when being the vertical uplink of motor；
Based on DOB interference observer feedforward compensation experimental waveform figure when Fig. 3 is motor vertical uplink；
Based on EKF interference observer feedforward compensation experimental waveform figure when Fig. 4 is motor vertical uplink；
Fig. 5 noiseless observer feedforward compensation experimental waveform figure when being the vertical downlink of motor；
Based on DOB interference observer feedforward compensation experimental waveform figure when Fig. 6 is motor vertical downlink；
Based on EKF interference observer feedforward compensation experimental waveform figure when Fig. 7 is motor vertical downlink.
Specific embodiment
Below with reference to embodiment and attached drawing to a kind of magnetic flux switching permanent-magnetism linear motor disturbance-observer proposed by the present invention before Feedback compensating control method be described in detail, described specific embodiment is only explained the present invention, not to The limitation present invention.
Entire magnetic flux switching permanent-magnetism linear motor disturbance-observer Front feedback control block diagram was as shown in Figure 1, should in the present invention System is made of four DC power supply, magnetic flux switching permanent-magnetism linear motor, three phase inverter bridge, controller parts.V in figurerefFor electricity Machine speed reference, vestFor the motor speed reference value of identification, iqrefFor the q axis reference current of speed ring output, phase current ia、 icIt is measured by sensor.
The method of the present invention includes the following steps:
Step 1: establishing the simplification kinetics equation of magnetic flux switching permanent-magnetism linear motor, and provide detent force and other Interference includes the equation of parameter uncertainty；
The simplification kinetics equation of vertical operation magnetic flux switching permanent-magnetism linear motor, specific as follows:
The simplification nominal power equation of the magnetic flux switching permanent-magnetism linear motor are as follows:
In formula: v is mover space rate, MoFor electric mover nominal mass, kfoFor the nominal thrust coefficient of motor, FcoFor electricity The nominal Coulomb friction power of machine, DoFor the nominal viscous friction coefficient of motor, iqFor the q shaft current of motor, FcogFor the detent force of motor, FextFor other perturbed forces of motor；
Formula (1) is written as preset parameter model form are as follows:
In formula: M is that motor surveys mover quality, Δ M=Mo- M, kfFor motor thrust coefficient, Δ kf=kfo-kf, FcFor electricity Machine surveys Coulomb friction power, and D is that motor surveys coefficient of friction, and ε is that uncertain factor includes electric mover quality, force oscillation system Number, Coulomb friction power, viscous friction coefficient and other model uncertain factors.
Step 2: according to magnetic flux switch permanent-magnetism linear motor kinetics equation using spreading kalman Design Orientation power with And interference observer, and observe detent force and other interference, calculate compensation electric current；
It is described to be included the following steps: using the fluctuation of spreading kalman design thrust and interference observer
Step 201: choosing speed, displacement and the detent force of motor as observation state vector；In a control cycle Ts It is interior, the variable quantity of detent force can be seen as 0,
It enablesThen have:
Wherein,U=[kfiq-Mg-Fc], Y=[x].
Step 202: formula (4) discretization is obtained:
Wherein, V (k) is system noise, and W (k) is measurement noise, and V (k) and W (k) are white zero noises, be that is to say: E { V (k) }=0, E { W (k) }=0, E { V (k) V (k)T}=Q, E { W (k) W (k)T}=R.
Step 203: status predication and state correction stage:
State vector is predicted:
The k+1 moment is asked to export:
Calculate covariance matrix:
Wherein: F (k)=diag (1 1 1)+TA；
Calculate gain matrix:
K+1 state vector is corrected:
Calculate the covariance matrix of next step:
Step 3: calculated compensation electric current is sent into electric current loop, carries out vertical operation magnetic flux and switch permanent-magnetism linear motor Vector controlled.It is described it is vertical operation magnetic flux switching permanent-magnetism linear motor vector controlled compensation electric current be observed in step 2 it is dry The influence for being determined on the basis of disturbing, and eliminating thrust coefficient itself, and velocity feedback is the observation speed of Kalman's observer Degree, angle feed-back is the observation angle of Kalman's observer.
Analysis of experimental results
When Fig. 2~Fig. 4 is motor uplink respectively, noiseless observer feedforward compensation is mended based on the feedforward of DOB interference observer It repays, the experimental waveform figure based on EKF interference observer feedforward compensation；Fig. 2, when noiseless observer feedforward compensation, speed is obvious Cyclic fluctuation, and velocity error maximum value is 0.02m/s；Fig. 3, when being based on DOB interference observer feedforward compensation, speed is without bright Aobvious cyclic fluctuation, but velocity error maximum value is still 0.02m/s；Fig. 4, when being based on EKF interference observer feedforward compensation, speed Without obvious cyclic fluctuation, velocity error maximum value is reduced to 0.01m/s, and velocity error is smaller.Fig. 5~Fig. 7 is electricity respectively When machine downlink, noiseless observer feedforward compensation is feedovered based on DOB interference observer feedforward compensation, based on EKF interference observer The experimental waveform figure of compensation.It is consistent when velocity error trend is with uplink.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited to above-mentioned specific implementations Mode, the above mentioned embodiment is only schematical, rather than restrictive.The case where not departing from present inventive concept Under, many variations can also be made, all of these belong to the protection of the present invention.