阅读说明：本技术 一种伺服驱动器的控制参数自动校正方法和装置 (Method and device for automatically correcting control parameters of servo driver ) 是由 不公告发明人 于 2021-07-28 设计创作，主要内容包括：本发明提供了一种伺服驱动器的控制参数自动校正方法和装置。所述方法包括根据伺服电机的电感和电阻,计算直/交轴电感和定子电阻；通过预设的电流环标幺值整定参数,计算直/交轴电流环控制器的比例系数和电流环的积分时间,对电流环控制参数进行校正；通过预设的速度环标幺值整定参数,计算速度环控制器的比例系数和速度环的积分时间,对速度环控制参数进行校正；通过预设的位置环标幺值整定参数,计算位置环控制器的比例系数,对位置环控制参数进行校正。以此方式,无需人为设定频域指标参数,仅通过测量伺服电机参数即可对电流环控制参数、速度环控制参数以及位置环控制参数的自动校正,并且在调试过程中易于调节。(The invention provides a method and a device for automatically correcting control parameters of a servo driver. The method comprises the steps of calculating direct/alternating axis inductance and stator resistance according to the inductance and the resistance of the servo motor; calculating a proportionality coefficient of a direct/alternating current loop controller and integral time of a current loop through a preset per unit value setting parameter of the current loop, and correcting a control parameter of the current loop; calculating a proportionality coefficient of a speed ring controller and integral time of a speed ring through a preset per-unit value setting parameter of the speed ring, and correcting a speed ring control parameter; and calculating a proportionality coefficient of the position ring controller through a preset per unit value setting parameter of the position ring, and correcting the position ring control parameter. In this way, the frequency domain index parameters do not need to be set artificially, the current loop control parameters, the speed loop control parameters and the position loop control parameters can be automatically corrected only by measuring the servo motor parameters, and the adjustment is easy in the debugging process.)

1. A method for automatically correcting control parameters of a servo driver is characterized by comprising the following steps:

calculating direct/alternating axis inductance and stator resistance according to the inductance and the resistance of the servo motor;

calculating a proportionality coefficient of a direct/alternating current loop controller and integral time of a current loop through a preset per unit value setting parameter of the current loop, and correcting a control parameter of the current loop;

calculating a proportionality coefficient of a speed ring controller and integral time of a speed ring through a preset per-unit value setting parameter of the speed ring, and correcting a speed ring control parameter;

and calculating a proportionality coefficient of the position ring controller through a preset per unit value setting parameter of the position ring, and correcting the position ring control parameter.

2. The method of claim 1, wherein the inductance and resistance of the servo motor are three-phase inductance and three-phase resistance.

3. The method of claim 1, wherein the calculating the dc/ac axis inductance and the stator resistance comprises:

wherein L is_AB、L_BC、L_CAThree line inductances for the servo motor; r_AB、R_BC、R_CAThree line resistances of the servo motor; l is_dA direct axis inductor; l is_qIs a quadrature axis inductor; r_sIs the stator resistance.

4. The method according to claim 1, wherein the calculating the proportional coefficient of the direct/alternating current loop controller and the integral time of the current loop through a preset per unit value setting parameter of the current loop comprises:

wherein, K_{P_Cur}The proportionality coefficient of the direct/alternating current loop controller is obtained; tunecaf_CurSetting parameters for the per unit value of the current loop; l is a direct/alternating axis inductor, and when the direct/alternating axis inductor is a direct axis inductor, L is equal to L_dWhen the dc/ac axis inductor is a ac axis inductor, L is L_q；T_{I_Cur}Is the integration time of the current loop; r_sIs a stator resistor; t is_{d_Cur}Is the current loop lag time.

5. The method according to claim 1, wherein the calculating the proportional coefficient of the speed loop controller and the integral time of the speed loop through a preset per unit value setting parameter of the speed loop comprises:

wherein, K_{P_Spd}Is the proportionality coefficient of the speed loop controller; j. the design is a square_MThe moment of inertia of the servo motor body; cof_LThe current motor shaft end load inertia coefficient is obtained; tunecaf_SpdSetting parameters for per unit values of the speed ring; t is_{d_Spd}Is the velocity loop inertia time; t is_{s_Spd}Lag time for a discrete beat of the velocity ring; t is_{I_Spd}Is the integration time of the velocity loop.

6. The method according to claim 1, wherein the calculating the proportionality coefficient of the position ring controller through a preset position ring per unit value setting parameter comprises:

wherein, K_{P_Pos}Is the proportionality coefficient of the position loop controller; tunecaf_PosSetting parameters for the per unit value of the position ring; k_PosA proportionality coefficient for the number of pulses commanded for the external position; t is_{d_Pos}Is the equivalent response time of the position loop; t is_{s_Pos}Is the lag time of the position loop discrete beat.

7. The method according to claim 1 or 4, wherein the per unit value setting parameter of the current loop is used for adjusting the control parameter of the current loop according to the reactive current response test result of the servo motor in a static state.

8. The method according to claim 1 or 5, wherein the per unit speed loop setting parameter is used for adjusting the speed loop control parameter according to the speed response test result of the servo motor in no-load and/or load state.

9. The method according to claim 1 or 6, characterized in that the per unit value setting parameter of the position ring is used for adjusting the position ring control parameter according to the position response test result of the servo motor under no-load and/or load state.

10. An automatic control parameter correction device for a servo driver, comprising:

the parameter calculation module is used for calculating the direct/alternating axis inductance and the stator resistance according to the inductance and the resistance of the servo motor;

the current loop calculation module is used for calculating the proportionality coefficient of the direct/alternating current loop controller and the integral time of the current loop according to a preset per-unit value setting parameter of the current loop, and correcting the control parameter of the current loop;

the speed ring calculation module is used for calculating a proportionality coefficient of a speed ring controller and integral time of a speed ring through a preset speed ring per-unit value setting parameter and correcting a speed ring control parameter;

and the position ring calculation module is used for calculating the proportionality coefficient of the position ring controller according to the preset per unit value setting parameter of the position ring and correcting the position ring control parameter.

Technical Field

The present invention relates generally to the field of motor control, and more particularly, to a method and apparatus for automatically correcting control parameters of a servo driver.

Background

The control parameters of the servo drive have an important, direct influence on the actual control performance. The traditional mode adopts direct setting of frequency domain indexes, manual fine adjustment is carried out based on actual debugging effect after setting, fine adjustment is also carried out within the range of the frequency domain indexes, and a large amount of actual experience and long-time parameter matching are needed to complete the fine adjustment. The frequency domain index is set in an open mode in the traditional servo driver software design, the direct setting based on the frequency domain index is not intuitive for controlling parameter adjustment, manual fine adjustment of the debugging performance of a servo system cannot be considered, and higher requirements are provided for the capability level of field debugging personnel.

Disclosure of Invention

According to an embodiment of the present invention, there is provided a control parameter auto-correction scheme for a servo driver.

In a first aspect of the invention, a method for automatic correction of control parameters of a servo driver is provided. The method comprises the following steps:

calculating direct/alternating axis inductance and stator resistance according to the inductance and the resistance of the servo motor;

calculating a proportionality coefficient of a direct/alternating current loop controller and integral time of a current loop through a preset per unit value setting parameter of the current loop, and correcting a control parameter of the current loop;

calculating a proportionality coefficient of a speed ring controller and integral time of a speed ring through a preset per-unit value setting parameter of the speed ring, and correcting a speed ring control parameter;

and calculating a proportionality coefficient of the position ring controller through a preset per unit value setting parameter of the position ring, and correcting the position ring control parameter.

Furthermore, the inductance and the resistance of the servo motor are three-phase inductance and three-phase resistance.

Further, the calculating the direct/alternating axis inductance and the stator resistance comprises:

wherein L is_AB、L_BC、L_CAThree line inductances for the servo motor; r_AB、R_BC、R_CAThree line resistances of the servo motor; l is_dA direct axis inductor; l is_qIs a quadrature axis inductor; r_sIs the stator resistance.

Further, the calculating the proportionality coefficient of the direct/alternating current loop controller and the integral time of the current loop through a preset per unit value setting parameter of the current loop includes:

wherein, K_{P_Cur}The proportionality coefficient of the direct/alternating current loop controller is obtained; tunecaf_CurSetting parameters for the per unit value of the current loop; l is a direct/alternating axis inductor, and when the direct/alternating axis inductor is a direct axis inductor, L is equal to L_dWhen the dc/ac axis inductor is a ac axis inductor, L is L_q；T_{I_Cur}Is the integration time of the current loop; r_sIs a stator resistor; t is_{d_Cur}Is the current loop lag time.

Further, the calculating the proportionality coefficient of the speed loop controller and the integral time of the speed loop through a preset per unit value setting parameter of the speed loop includes:

wherein, K_{P_Spd}Is the proportionality coefficient of the speed loop controller; j. the design is a square_MThe moment of inertia of the servo motor body; cof_LThe current motor shaft end load inertia coefficient is obtained; tunecaf_SpdSetting parameters for per unit values of the speed ring; t is_{d_Spd}Is the velocity loop inertia time; t is_{s_Spd}Lag time for a discrete beat of the velocity ring; t is_{I_Spd}Is the integration time of the velocity loop.

Further, the calculating the proportionality coefficient of the position ring controller according to the preset per unit value setting parameter of the position ring includes:

wherein, K_{P_Pos}Is the proportionality coefficient of the position loop controller; tunecaf_PosSetting parameters for the per unit value of the position ring; k_PosA proportionality coefficient for the number of pulses commanded for the external position; t is_{d_Pos}Is the equivalent response time of the position loop; t is_{s_Pos}Is the lag time of the position loop discrete beat.

And further, the current loop per unit value setting parameter is used for adjusting the current loop control parameter according to the reactive current response test result of the servo motor in the static state.

And further, the per unit value setting parameter of the speed ring is used for adjusting the control parameter of the speed ring according to the speed response test result of the servo motor in the no-load and/or load state.

And further, the per unit value setting parameter of the position ring is used for adjusting the control parameter of the position ring according to the position response test result of the servo motor in the no-load and/or load state.

In a second aspect of the present invention, there is provided an automatic control parameter correction apparatus for a servo driver. The device includes:

the parameter calculation module is used for calculating the direct/alternating axis inductance and the stator resistance according to the inductance and the resistance of the servo motor;

the current loop calculation module is used for calculating the proportionality coefficient of the direct/alternating current loop controller and the integral time of the current loop according to a preset per-unit value setting parameter of the current loop, and correcting the control parameter of the current loop;

the speed ring calculation module is used for calculating a proportionality coefficient of a speed ring controller and integral time of a speed ring through a preset speed ring per-unit value setting parameter and correcting a speed ring control parameter;

and the position ring calculation module is used for calculating the proportionality coefficient of the position ring controller according to the preset per unit value setting parameter of the position ring and correcting the position ring control parameter.

The method and the device do not need to manually set frequency domain index parameters, can automatically correct the current loop control parameters, the speed loop control parameters and the position loop control parameters by measuring the servo motor parameters, and are easy to adjust in the debugging process.

It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of any embodiment of the invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of various embodiments of the present invention will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

FIG. 1 shows a flow chart of a method for automatic correction of control parameters of a servo drive according to an embodiment of the invention;

fig. 2 shows a block diagram of a control parameter automatic correction apparatus of a servo driver according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the invention, the current loop control parameter, the speed loop control parameter and the position loop control parameter can be automatically corrected only by measuring the servo motor parameter without manually setting the frequency domain index parameter, and the adjustment is easy in the debugging process.

Fig. 1 shows a flowchart of a method for automatically correcting a control parameter of a servo driver according to an embodiment of the present invention.

The method comprises the following steps:

s101, calculating direct/alternating axis inductance and stator resistance according to the inductance and the resistance of the servo motor.

The servo motor is an engine which controls mechanical elements to operate in a servo system, can control speed, has very accurate position precision, and can convert voltage signals into torque and rotating speed to drive a control object.

And the inductance and the resistance of the servo motor are three-phase inductance and three-phase resistance. The three-phase inductance and the three-phase resistance are obtained by measuring through an LCR bridge. And calculating motor parameters required by correction of the current loop control parameters through the measurement results. The motor parameters required for correcting the current loop control parameters comprise direct axis inductance, quadrature axis inductance and stator resistance.

The calculating of the direct/alternating axis inductance and the stator resistance comprises the following steps:

wherein L is_AB、L_BC、L_CAThree line inductances for the servo motor; r_AB、R_BC、R_CAThree line resistances of the servo motor; l is_dA direct axis inductor; l is_qIs a quadrature axis inductor; r_sIs the stator resistance.

In modern servo motors, salient pole type motors are often adopted in order to meet the requirements of higher overspeed range, higher efficiency and the like. The salient pole motor can adopt weak magnetic control, and can adopt MTPA control in a constant torque and constant power interval. In the traditional parameter correction method, the AC-DC axis inductance value of the motor is not distinguished, and the performance is reduced by adopting an average value model correction in the control of a servo motor including a salient pole motor.

In an embodiment of the present invention, the servo motor may be a salient pole motor or a non-salient pole motor. The motor parameters required by the correction of the current loop control parameters can be simply obtained by measurement instead of parameter identification, the quadrature-direct axis inductance values of the motor are distinguished, more accurate quadrature-direct axis inductance is obtained, and then a group of control parameters with stable operation can be obtained by correction.

S102, calculating a proportionality coefficient of a direct/alternating current loop controller and integral time of a current loop through a preset per unit value setting parameter of the current loop, and correcting a control parameter of the current loop.

As an embodiment of the present invention, calculating a proportionality coefficient of a dc/ac axis current loop controller and an integration time of a current loop through a preset per unit value setting parameter of the current loop includes:

wherein, K_{P_Cur}The proportionality coefficient of the direct/alternating current loop controller is obtained; tunecaf_CurSetting parameters for the per unit value of the current loop; l is a direct/alternating axis inductor, and when the direct/alternating axis inductor is a direct axis inductor, L is equal to L_dWhen the dc/ac axis inductor is a ac axis inductor, L is L_q；T_{I_Cur}Is the integration time of the current loop; r_sIs a stator resistor; t is_{d_Cur}Is the current loop lag time.

In the process of correcting the current loop control parameters, a typical second-order system correction method is adopted, an optimal correction method of an I-type system is adopted as an algorithm default, a motor stator winding is regarded as an inertia link formed by an inductor and a resistor, meanwhile, the sampling delay of hardware and the control beat delay of algorithm software are considered, the delays are equivalent to a delay link, and the current loop delay time is T_{d_Cur}。

In this embodiment, when the dc/ac inductor is a dc inductor, L is L_dAt this time, the proportionality coefficient K of the current loop controller_{P_Cur}The proportionality coefficient of the direct-axis current loop controller is as follows:

in this embodiment, when the dc/ac axis inductor is an ac axis inductor, L is L_qAt this time, the proportionality coefficient K of the current loop controller_{P_Cur}The proportionality coefficient of the quadrature axis current loop controller is as follows:

as an embodiment of the invention, a per unit value setting parameter Tunecef of a current loop is preset_CurAnd the per unit value setting parameter Tuneccof of the current loop_CurCan be set manually and can be finely adjusted. The current loop per unit value setting parameter Tunecef_CurAnd the device is used for carrying out micro-adjustment on the current loop control parameter according to the reactive current response test result of the servo motor in the static state. For example, the current loop per unit value setting parameter Tunecef_CurSet to 100%, may be fine-tuned up to 105% or fine-tuned down to 95% during the fine tuning process, etc., i.e., fine-tuned proportionally. The reactive current response test result of the servo motor in the static state comprises adjustment time and overshoot.

Tuning parameter Tunecef through fine tuning current loop per unit value_CurThe adjustment of the current loop control parameters can be considered as a correction for inaccurate inductance and resistance parameters, or as a fine adjustment of how fast the current loop is adjusted. Therefore, the correction parameters are obtained according to the typical correction method of the second-order system, the inaccuracy of the parameters is considered, and the requirements of different use occasions on the performance of the current loop are considered.

S103, calculating a proportionality coefficient of the speed ring controller and integral time of the speed ring through a preset speed ring per unit value setting parameter, and correcting a speed ring control parameter.

As an embodiment of the present invention, calculating a proportionality coefficient of a speed ring controller and an integration time of a speed ring through a preset per unit value setting parameter of the speed ring includes:

wherein, K_{P_Spd}Is the proportionality coefficient of the speed loop controller; j. the design is a square_MThe moment of inertia of the servo motor body; cof_LThe current motor shaft end load inertia coefficient is obtained; tunecaf_SpdSetting parameters for per unit values of the speed ring; t is_{d_Spd}Is the velocity loop inertia time; t is_{s_Spd}Lag time for a discrete beat of the velocity ring; t is_{I_Spd}Is the integration time of the velocity loop.

In this embodiment, the correction of the speed loop parameter is taken as a typical third-order system, and the speed loop is equivalent to an inertia link; the speed feedback of the encoder is equivalent to an inertia link; speed analysis and filtering after the feedback of the encoder are equivalent to an inertia link; then all inertia links are equivalent to a whole inertia link, and the inertia time is T_{d_Spd}. The lag time of discrete beat of speed ring is T_{s_Spd}The time for discretization of the continuous system is shown. Speed ring relates to rotational inertia J of servo motor body_MAnd a shaft end load inertia coefficient Cof of the servo motor_LThen the real inertia of the whole is J_M(1+Cof_L). Moment of inertia J of servo motor body_MCan be input according to the design value in the servo motor manual, and the load inertia coefficient Cof of the shaft end of the servo motor_LThe input can be carried out according to the inertia of the load carried by the shaft end of the actual servo motor. Parameters required for correction of speed loop control parameters: servo motor body moment of inertia J_MShaft end load inertia coefficient Cof of servo motor_LAnd may not be precise. The accuracy of its parameters does not affect the stability of the correction system.

As an embodiment of the invention, a speed ring per unit value setting parameter Tunecef is preset_Spd. The speed ring per unit value setting parameter Tunecef_SpdCan be set manually and can be finely adjusted. The speed ring per unit value setting parameter Tunecef_SpdFor idling and/or idling in accordance with servo motorAnd (4) adjusting the speed loop control parameters according to the speed response test result in the loading state. For example, the per unit value setting parameter Tunecef of the speed ring_SpdSet to 100%, may be fine-tuned up to 105% or fine-tuned down to 95% during the fine tuning process, etc., i.e., fine-tuned proportionally. The speed response test result of the servo motor in the no-load and/or load state comprises adjustment time and overshoot.

In this embodiment, by setting the per unit value setting parameter of the speed ring, after the correction parameter is obtained by a three-order system typical correction method, the correction parameter can be finely adjusted, the inaccuracy of the speed ring parameter is considered, and the requirements of different use occasions on the performance of the speed ring are considered.

And S104, calculating a proportionality coefficient of the position ring controller through a preset position ring per unit value setting parameter, and correcting the position ring control parameter.

As an embodiment of the present invention, calculating a proportionality coefficient of a position ring controller through a preset per unit value setting parameter of a position ring includes:

wherein, K_{P_Pos}Is the proportionality coefficient of the position loop controller; tunecaf_PosSetting parameters for the per unit value of the position ring; k_PosA proportionality coefficient for the number of pulses commanded for the external position; t is_{d_Pos}Is the equivalent response time of the position loop; t is_{s_Pos}Is the lag time of the position loop discrete beat.

In this embodiment, the whole position loop is equivalent to an integration element, wherein the integration time of the integration element includes the equivalent response time T of the position loop_{d_Pos}And lag time T of position loop discrete beat_{s_Pos}. Proportionality coefficient K of external position command pulse number_PosThe rotation speed is converted from the mechanical rotation speed through a servo motor. And correcting the position ring by taking the controlled object as an integral link, and equating the corrected closed-loop response system as an inertial link.

As an embodiment of the invention, a position ring per unit value setting parameter Tunecef is preset_Pos. The position ring per unit value setting parameter Tunecef_PosCan be set manually and can be finely adjusted. The position ring per unit value setting parameter Tunecef_PosAnd the servo motor controller is used for adjusting the position loop control parameters according to the position response test result of the servo motor in the no-load and/or load state. For example, the position ring per unit value setting parameter TuneCof_PosSet to 100%, may be fine-tuned up to 105% or fine-tuned down to 95% during the fine tuning process, etc., i.e., fine-tuned proportionally. The per-unit value setting parameter of the position ring has practical significance, namely the response time of the inertia link after the position ring is corrected. The speed response test result of the servo motor in the no-load and/or load state comprises adjustment time and overshoot.

In this embodiment, the per unit value setting parameter of the position ring is set, and after the correction parameter is obtained by correcting the parameter of the position ring, the correction parameter can be finely adjusted, so that the inaccuracy of the parameter of the position ring is considered, and the requirements of different use occasions on the performance of the position ring are considered.

According to the embodiment of the invention, the frequency domain index parameters do not need to be manually set, the current loop control parameters, the speed loop control parameters and the position loop control parameters can be automatically corrected only by measuring the servo motor parameters, and the adjustment is easy in the debugging process.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that the acts and modules illustrated are not necessarily required to practice the invention.

The above is a description of method embodiments, and the embodiments of the present invention are further described below by way of apparatus embodiments.

As shown in fig. 2, the apparatus 200 includes:

the parameter calculation module 210 is configured to calculate a direct/alternating axis inductance and a stator resistance according to the inductance and the resistance of the servo motor;

the current loop calculation module 220 is configured to calculate a proportionality coefficient of the direct/alternating current loop controller and an integral time of the current loop according to a preset per unit value setting parameter of the current loop, and correct a current loop control parameter;

a speed loop calculation module 230, configured to calculate a proportionality coefficient of the speed loop controller and an integral time of the speed loop through a preset per unit value setting parameter of the speed loop, and correct a speed loop control parameter;

and the position ring calculation module 240 is configured to calculate a proportionality coefficient of the position ring controller according to a preset per unit value setting parameter of the position ring, and correct the position ring control parameter.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the described module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.