阅读说明：本技术 一种适用于pmsm伺服系统的快速响应高精度位置控制方法 (A kind of quick response high precision position control method suitable for PMSM servo-system ) 是由 徐永向 高京哲 李绍斌 邹继斌 肖利军 邹继明 禹国栋 于 2019-09-18 设计创作，主要内容包括：本发明提出一种适用于PMSM伺服系统的快速响应高精度位置控制方法,所述方法包括计算电机的最大加速度,向伺服系统的速度调节器输入斜率大小为a<Sub>max</Sub>的速度指令曲线,令电机以最大加速度进行加速,此阶段为快速响应阶段,以提高位置的响应速度为主要的优化目标；判断当前转速ω与最大转速ω<Sub>max</Sub>之间的关系,决定当前状态；检测当前时刻的位置误差与α之间的关系,从而确定当前所处阶段,实现高精度位置控制。本发明能够有效地提高伺服系统位置控制的响应速度和稳态精度,相对于传统的PI控制方法,当位置误差非常小时,该方法显著的减小了消除位置误差的时间,同时不依赖于参数,在不同的PMSM伺服系统中均具有很强的适应性。(The present invention proposes a kind of quick response high precision position control method suitable for PMSM servo-system, is a to the speed regulator of servo-system input slope size the method includes calculating the peak acceleration of motor max Speed command curve, enable motor be accelerated with peak acceleration, this stage be the quick response stage, with improve position response speed be main optimization aim；Judge current rotating speed ω and maximum (top) speed ω max Between relationship, determine current state；The relationship between the location error and α at current time is detected, so that it is determined that being presently in the stage, realizes high precision position control.The present invention can effectively improve the response speed and stable state accuracy of servo-system position control, relative to traditional PI control method, when location error is very small, this method significantly reduces the time for eliminating location error, simultaneously independent of parameter, very strong adaptability is all had in different PMSM servo-systems.)

1. a kind of quick response high precision position control method suitable for PMSM servo-system, it is characterised in that: the method The following steps are included:

Step 1: according to the number of pole-pairs p of PMSM, permanent magnet flux linkage ψ_f, the maximum current I that is able to bear_maxWith the rotation of motor Inertia J calculates the peak acceleration a of motor_max:

It is a to the speed regulator of servo-system input slope size_maxSpeed command curve, enable motor with peak acceleration Accelerated, this stage is the quick response stage, to improve the response speed of position as main optimization aim；

Step 2: the size of the servo-system location of instruction is θ_s, permitted motor maximum (top) speed size is ω_max, utilize position Sensor obtains the current location θ and current rotating speed ω of rotor in real time, then the location error at current time is Δ θ:

Δ θ=θ_s-θ

Then judge current rotating speed ω and maximum (top) speed ω_maxBetween relationship, if ω >=ω_max, then command speed song is set Line enables motor with maximum (top) speed ω_maxWhether operation, detection current location error delta θ are less than or equal to ω_max ²/2a_maxIf full Foot requires, then command speed curve is arranged and enables motor with a_maxSlow down, otherwise continues with maximum (top) speed ω_maxOperation, and to Δ θ into The lasting detection of row；

If ω < ω_max, detect whether error delta θ in current location is less than or equal to ω²/2a_maxIf met the requirements, setting refers to Rate curve is enabled to enable motor with a_maxSlow down, otherwise continue Accelerating running, and Δ θ is carried out to continue detection；

Step 3: whether the location error Δ θ for detecting current time is less than or equal to α, wherein α indicate angle, specific value according to The demand for control of servo-system is set, if met the requirements, switching position control strategy approaches the stage into stable state, To realize position control, which approaches the stage to improve the stable state accuracy of position for main optimization aim, if discontented Foot requires, then persistently detects the location error situation at current time.

2. according to the method described in claim 1, it is characterized by: the stable state approach the stage, use PI control strategy with Location error is eliminated, higher control precision is obtained, and PI parameter then needs to be adjusted in an experiment.

3. according to the method described in claim 1, it is characterized by: the position sensor is photoelectric encoder, rotation transformation Device or hall position sensor.

Technical field

The invention belongs to high performance servo systems technology fields, more particularly to a kind of suitable for the fast of PMSM servo-system Speed response high precision position control method.

Background technique

Permanent magnet synchronous motor (PMSM) servo-system performance is usually main weighing apparatus with the response speed of position and control precision Figureofmerit, usually, high performance SERVO CONTROL can make the physical location of motor quickly and accurately follow the location of instruction. Although under the control methods such as traditional PID control, feedforward control, ANN Control, the response speed or stable state control of position Precision processed, which has, to be obviously improved, but these control methods generally cannot be considered in terms of the response speed and control essence of position control Degree.

For the position control of servo-system, after the location of instruction is given, under the action of electromagnetic torque, electricity Machine revolving speed starts to gradually rise, and physical location will also accelerate close to the location of instruction.However, it is contemplated that turning caused by current limit Square restricted problem, revolving speed is higher, and the time spent by decelerating through motor process is also longer, therefore before reaching designated position, electricity Machine cannot be always maintained at acceleration mode or high-speed cruising state, and need in particular moment pre-decelerating, to guarantee that rotor exists After reaching designated position, motor speed can be reduced to zero therewith.The selection at the moment is particularly significant, and slow down significantly to increase too early Add the position response time, and slow down too late, will cause very much biggish position overshoot, two kinds of situations will affect servo-system Position control performance.The above analysis discloses the contradiction between servo-system quick response and high-precision control.

Summary of the invention

The invention aims to solve the problems of the prior art, propose a kind of suitable for the fast of PMSM servo-system Speed response high precision position control method.The method uses the thought of subsection optimization control, to solve quick response and height The paradox of precision controlling.

The present invention is achieved by the following technical solutions, and the present invention proposes a kind of suitable for the quick of PMSM servo-system High precision position control method is responded, the described method comprises the following steps:

Step 1: according to the number of pole-pairs p of PMSM, permanent magnet flux linkage ψ_f, the maximum current I that is able to bear_maxWith motor Rotary inertia J calculates the peak acceleration a of motor_max:

It is a to the speed regulator of servo-system input slope size_maxSpeed command curve, enable motor with most greatly Speed is accelerated, this stage is the quick response stage, to improve the response speed of position as main optimization aim；

Step 2: the size of the servo-system location of instruction is θ_s, permitted motor maximum (top) speed size is ω_max, utilize Position sensor obtains the current location θ and current rotating speed ω of rotor in real time, then the location error at current time is Δ θ:

Δ θ=θ_s-θ

Then judge current rotating speed ω and maximum (top) speed ω_maxBetween relationship, if ω >=ω_max, then instruction speed is set It writes music line, enables motor with maximum (top) speed ω_maxWhether operation, detection current location error delta θ are less than or equal to ω_max ²/2a_max, such as Fruit meets the requirements, then command speed curve is arranged and enables motor with a_maxSlow down, otherwise continues with maximum (top) speed ω_maxOperation, and it is right Δ θ carries out continuing detection；

If ω < ω_max, detect whether error delta θ in current location is less than or equal to ω²/2a_maxIf met the requirements, Setting command speed curve enables motor with a_maxSlow down, otherwise continue Accelerating running, and Δ θ is carried out to continue detection；

Step 3: whether the location error Δ θ for detecting current time is less than or equal to α, wherein α indicates angle, specific value It is set according to the demand for control of servo-system, if met the requirements, switching position control strategy approaches rank into stable state Section, to realize position control, which approaches the stage to improve the stable state accuracy of position for main optimization aim, if not It meets the requirements, then persistently detects the location error situation at current time.

Further, the stage is approached in the stable state, uses PI control strategy to eliminate location error, obtains higher control Precision processed, and PI parameter then needs to be adjusted in an experiment.

Further, the position sensor is photoelectric encoder, rotary transformer or hall position sensor.

The invention has the advantages that:

The present invention can effectively improve the response speed and stable state accuracy of servo-system position control, relative to traditional PI control method, when location error is very small, this method significantly reduces the time for eliminating location error, does not depend on simultaneously In parameter, very strong adaptability is all had in different PMSM servo-systems.In addition, relative to novel optimized control side Method, this method calculation amount are small, it is easy to accomplish, it is very suitable for the PMSM servo-system using DSP as control core, has relatively strong Adaptability.

Detailed description of the invention

Fig. 1 is that the method for the present invention is related to the overall structure diagram of PMSM servo-system；

Fig. 2 is the method for the invention flow chart；

Fig. 3 is the division schematic diagram of servo-system operation phase；

Fig. 4 is empirical curve schematic diagram of the servo-system under PI control；

Fig. 5 is the empirical curve schematic diagram controlled by direct given rotating speed method servo-system；

Fig. 6 is the empirical curve schematic diagram controlled using the method for the present invention servo-system；

Fig. 7 is to be controlled using PI control, directly given method for controlling number of revolution, control method of the present invention servo-system Position response contrast schematic diagram.

Specific embodiment

Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

Referring to Fig.1, U_dcRepresent DC bus-bar voltage, θ^*Reference position signal is respectively represented with θ and it is expected that measurement rotor is real Border position, ω^*Reference rotation velocity and actual speed, I are respectively indicated with ω^* _dWith I_dRespectively indicate the reference of d axis and measurement electric current, I^* _qWith I_qRespectively indicate the reference of q axis and measurement electric current, i_αWith i_βRespectively indicate current component, the i under two-phase stationary coordinate system α β_aWith i_bPoint Not Wei motor ab two-phase phase current instantaneous value, u_dWith u_qRespectively indicate output voltage, the u of current regulator_dcomWith u_qcomIt is dead Area's offset voltage, u_αWith u_βIt respectively indicates component, PMSM of the dq shaft voltage at two-phase stationary coordinate system α β and represents permanent magnet synchronous electric Machine, SVPWM representation space Vector Pulse Width Modulation technology.

Referring to Fig. 2, a_maxRepresent the attainable maximum angular acceleration of motor institute, ω_maxRepresent the attainable maximum of motor institute Revolving speed, Δ θ indicate the handoff angle set according to the demand for control of servo-system for the location error at current time, α, when Position deviation is less than or equal to carry out switching, the ω of control law when α to be motor actual speed.

Referring to Fig. 3, β indicates the switching point of position control strategy in figure.

In conjunction with Fig. 1-Fig. 3, the present invention proposes that a kind of quick response high precision position suitable for PMSM servo-system controls Method the described method comprises the following steps:

Step 1: according to the number of pole-pairs p of PMSM, permanent magnet flux linkage ψ_f, the maximum current I that is able to bear_maxWith motor Rotary inertia J calculates the peak acceleration a of motor_max:

It is a to the speed regulator of servo-system input slope size_maxSpeed command curve, enable motor with most greatly Speed is accelerated, this stage is the quick response stage, to improve the response speed of position as main optimization aim；

Step 2: the size of the servo-system location of instruction is θ_s, permitted motor maximum (top) speed size is ω_max, utilize Position sensor (position sensor is photoelectric encoder, rotary transformer or hall position sensor etc.) obtains in real time The current location θ and current rotating speed ω of rotor, then the location error at current time is Δ θ:

Δ θ=θ_s-θ

Then judge current rotating speed ω and maximum (top) speed ω_maxBetween relationship, if ω >=ω_max, then instruction speed is set It writes music line, enables motor with maximum (top) speed ω_maxWhether operation, detection current location error delta θ are less than or equal to ω_max ²/2a_max, such as Fruit meets the requirements, then command speed curve is arranged and enables motor with a_maxSlow down, otherwise continues with maximum (top) speed ω_maxOperation, and it is right Δ θ carries out continuing detection；

If ω < ω_max, detect whether error delta θ in current location is less than or equal to ω²/2a_maxIf met the requirements, Setting command speed curve enables motor with a_maxSlow down, otherwise continue Accelerating running, and Δ θ is carried out to continue detection；

Step 3: whether the location error Δ θ for detecting current time is less than or equal to α, wherein α indicates the angle of a very little Degree, specific value is set according to the demand for control of servo-system, if met the requirements, switching position control strategy, into Enter the stable state approach stage, to realize position control, it is main excellent which, which approaches the stage to improve the stable state accuracy of position, Change target, if the requirements are not met, then persistently detects the location error situation at current time.

The stage is approached in the stable state, uses PI control strategy to eliminate location error, obtains higher control precision, and PI parameter then needs to be adjusted in an experiment.

Fig. 4 is empirical curve schematic diagram of the servo-system under PI control, it can be seen that when motor physical location and instruction When position deviation is smaller, since the slope that the speed command of pi regulator output reduces slows down, cause system in approach stable state It slows in the process, to increase the response time；Fig. 5 is to be controlled by direct given rotating speed method servo-system Empirical curve schematic diagram, this method calculates corresponding rotational speed setup, so that theoretically revolving speed by expected position signal The given area surrounded with reference axis is the desired location of motor.However, since der Geschwindigkeitkreis tracking given rotating speed is there are error, The attainable position of practical institute of motor and ideal value can have deviation, and leading to position response as shown in the figure, there are errors；Fig. 6 is The empirical curve schematic diagram controlled using the method for the present invention servo-system, it can be seen that, vertical line position is control in figure Rate switching point, the position response time is less than 4ms after switching, and can effectively reduce the oscillation of rotor, effectively improves position ring Performance.Slack-off in low regime response speed compared to Fig. 4 b), motor is still able to maintain maximum braking deceleration in the decelerating phase, It ensure that the response speed approached in low regime to position command, and the position ring opened loop control compared to Fig. 5 a) causes to follow Error, in low regime, the feedback control of speed can guarantee the precision of position ring tracking Setting signal；Fig. 7 is to use various controls Strategy position response waveform diagram, from figure 7 it can be seen that due to the adjusting of conventional PI control strategy be it is linear, this causes When physical location will reach the location of instruction, response speed is slack-off, significantly increases the position response time, such as the red line institute in figure Show.Although can solve this problem using rotational speed setup control, it will lead to the static difference of position, reduce the essence of control Degree, as shown in the blue line in figure.And use subsection optimization control method of the present invention can in summary two methods it is excellent Point had both improved the speed of response, in turn ensured the precision of control, as shown in the green line in figure.

Above to a kind of quick response high precision position controlling party suitable for PMSM servo-system proposed by the invention Method is described in detail, and used herein a specific example illustrates the principle and implementation of the invention, above The explanation of embodiment is merely used to help understand method and its core concept of the invention；Meanwhile for the general skill of this field Art personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this Description should not be construed as limiting the invention.