阅读说明：本技术 一种无刷电机整定pi参数的调试方法 (Debugging method for brushless motor to adjust PI parameter ) 是由 刘运录 唐宝 杜俊 于 2021-08-03 设计创作，主要内容包括：本发明公开了一种无刷电机整定PI参数的调试方法,所述调试方法包括如下步骤：粗调：预先将比例项系数Kp置零,从小往大调节比例项系数Kp；调节完比例项系数Kp再调节积分项系数Ki,其积分项系数Ki依照从小到大的顺序调试；微调：调试时比例项系数Kp与积分项系数Ki尽量靠近,粗调完成后,根据系统对于快速性和误差的要求来对应微调比例项系数Kp与积分项系数Ki。本发明两个参数的整定按照先P后I、从小到大的顺序,能够快速锁定PI调节中比例及积分的参数小范围控制,进而快速调节系统稳定,提升系统调试效率。(The invention discloses a debugging method for setting PI (proportional integral) parameters of a brushless motor, which comprises the following steps: coarse adjustment: setting the coefficient Kp of the proportional term to zero in advance, and adjusting the coefficient Kp of the proportional term from small to large; after the proportional term coefficient Kp is adjusted, the integral term coefficient Ki is adjusted, and the integral term coefficient Ki is adjusted from small to large; fine adjustment: during debugging, the proportional term coefficient Kp and the integral term coefficient Ki are close to each other as much as possible, and after coarse adjustment is completed, the proportional term coefficient Kp and the integral term coefficient Ki are correspondingly and finely adjusted according to the requirements of the system on rapidity and errors. According to the method, the two parameters are set according to the sequence of P first and I second and from small to large, the small-range control of proportional and integral parameters in PI regulation can be quickly locked, the system is quickly regulated to be stable, and the system debugging efficiency is improved.)

1. A debugging method for setting PI parameters of a brushless motor is characterized by comprising the following steps:

coarse adjustment: setting the coefficient Kp of the proportional term to zero in advance, and adjusting the coefficient Kp of the proportional term from small to large; after the proportional term coefficient Kp is adjusted, the integral term coefficient Ki is adjusted, and the integral term coefficient Ki is adjusted from small to large;

fine adjustment: during debugging, the proportional term coefficient Kp and the integral term coefficient Ki are as close as possibleAfter coarse adjustment is finished, the proportional term coefficient Kp and the integral term coefficient Ki are correspondingly adjusted according to the requirements of the system on rapidity and error.

2. The debugging method for the brushless motor setting PI parameter according to claim 1, characterized in that: in the fine adjustment process, rapidity and errors are contradictory indexes under the constraint of stability, and if the system divergence does not reach the expected index due to the debugging of a certain parameter in the fine adjustment process, another parameter value may need to be reduced.

3. The debugging method for the brushless motor setting PI parameter according to claim 1, characterized in that: when the integral term coefficient Ki is debugged, the integral term coefficient Ki is solved as an initial debugging value aiming at the control structure of the brushless motor, and the solving mode is as follows:

wherein f is_cIs the control frequency, f_{Switch with a switch body}Is the driving switching frequency, f_{Dominant frequency}Is the main frequency signal of the logic chip.

4. The debugging method for the brushless motor setting PI parameter according to claim 1, characterized in that: the adjustment of the proportional term coefficient Kp can adopt the setting that the maximum value of the proportional term coefficient Kp does not exceed the maximum normal output countless click duty ratio Ton divided by the maximum rotating speed n.

5. The debugging method for the brushless motor setting PI parameter according to claim 1, characterized in that: the minimum value of the proportionality coefficient Kp is adjusted from one tenth of the maximum value of the proportionality coefficient Kp.

6. The debugging method for the brushless motor setting PI parameter according to claim 1, characterized in that: and multiplying the value of oscillation divergence of the brushless motor by 0.6-0.7 as a preliminary proportional coefficient Kp during adjustment of the proportional coefficient Kp.

Technical Field

The invention relates to the technical field of brushless motor PI parameter debugging, in particular to a debugging method for setting PI parameters of a brushless motor.

Background

The brushless direct current motor consists of a motor main body and a driver, and is a typical electromechanical integrated product; because the brushless DC motor is operated in a self-control mode, a starting winding is not additionally arranged on a rotor like a synchronous motor which is started under the condition of variable frequency and speed regulation and does not generate oscillation and step-out when the load suddenly changes.

In the process of digitally controlling the brushless direct current motor by using platforms such as DSP, CPLD, FBGA and the like, PI control needs to be realized in software; in the actual engineering debugging, the PI parameter is not properly set, and the system stability is poor.

Disclosure of Invention

The invention aims to provide a debugging method for setting PI parameters of a brushless motor, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a debugging method for setting PI parameters of a brushless motor comprises the following steps:

coarse adjustment: setting the coefficient Kp of the proportional term to zero in advance, and adjusting the coefficient Kp of the proportional term from small to large; after the proportional term coefficient Kp is adjusted, the integral term coefficient Ki is adjusted, and the integral term coefficient Ki is adjusted from small to large;

fine adjustment: during debugging, the proportional term coefficient Kp and the integral term coefficient Ki are as close as possibleAfter coarse adjustment is finished, the proportional term coefficient Kp and the integral term coefficient Ki are correspondingly adjusted according to the requirements of the system on rapidity and error.

Preferably, in the fine tuning process, the rapidity and the error are a pair of contradictory indexes under the constraint of stability, and if in the fine tuning, the system divergence does not reach the expected index due to the debugging of a certain parameter, another parameter value may need to be reduced.

Preferably, when debugging the integral term coefficient Ki, the integral term coefficient Ki is solved as an initial debugging value for the control structure of the brushless motor, and the solving method is as follows:

wherein f is_cIs the control frequency, f_{Switch with a switch body}Is to driveSwitching frequency, f_{Dominant frequency}Is the main frequency signal of the logic chip.

Preferably, the proportional term coefficient Kp is adjusted in magnitude, so that the maximum value of the proportional term coefficient Kp does not exceed the setting of the maximum normal output infinite click duty ratio Ton divided by the maximum rotation speed n.

Preferably, the minimum value of the proportionality coefficient Kp is adjusted from one tenth of the maximum value of the proportionality coefficient Kp.

Preferably, the proportional coefficient Kp is obtained by multiplying the value of oscillation divergence of the brushless motor by 0.6-0.7 as a preliminary proportional coefficient Kp when adjusting.

The invention has the beneficial effects that:

according to the method, the two parameters are set according to the sequence of P first and I second and from small to large, the small-range control of proportional and integral parameters in PI regulation can be quickly locked, the system is quickly regulated to be stable, and the system debugging efficiency is improved.

Drawings

Fig. 1 is a block diagram of a PI control system of a brushless motor according to the present invention.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a technical solution: a debugging method for setting PI parameters of a brushless motor comprises the following steps:

coarse adjustment: setting the coefficient Kp of the proportional term to zero in advance, and adjusting the coefficient Kp of the proportional term from small to large; after the proportional term coefficient Kp is adjusted, the integral term coefficient Ki is adjusted, and the integral term coefficient Ki is adjusted from small to large;

fine adjustment: during debugging, the proportional term coefficient Kp and the integral term coefficient Ki are as close as possible, and after coarse adjustment is completed, the proportional term coefficient Kp and the integral term coefficient Ki are correspondingly fine-adjusted according to the requirements of the system on rapidity and errors; in the fine tuning process, under the constraint of stability, rapidity and error are a pair of contradictory indexes, and if the system divergence does not reach the expected index due to the debugging of a certain parameter in the fine tuning process, another parameter value may need to be reduced.

The integral term coefficient Ki is set to be zero, only proportional control is adopted, the proportional term coefficient Kp can be adjusted in a mode that the maximum value of the proportional term coefficient Kp does not exceed the setting of dividing the maximum normal output brushless motor duty ratio Ton by the maximum rotating speed n, and the minimum value can be adjusted from about 1/10 of the maximum value of the proportional term coefficient Kp.

The magnitude of the proportional term coefficient Kp mainly influences the rapidity, the system dynamic response is quicker when the proportional term coefficient Kp is larger, but the system is unstable when the proportional term coefficient Kp is too large; the two parameters are set according to the sequence of P first and I second and from small to large, the small-range control of proportional and integral parameters in PI regulation can be quickly locked, and therefore the system is quickly regulated to be stable, and the debugging efficiency of the system is improved.

The magnitude of the proportionality coefficient Kp mainly affects the rapidity, the system dynamic response is faster when the proportionality coefficient Kp is larger, but the system is unstable when the proportionality coefficient Kp is too large; the proportionality coefficient Kp is therefore scaled from small to large, and the value of just ringing or divergence is typically multiplied by 0.6 to 0.7 as the preliminary proportionality coefficient Kp.

In debugging the integral term coefficient Ki, the integral term coefficient Ki is solved as an initial debugging value for the control structure of the brushless motor, and the solving method is as follows:

wherein f is_cIs the control frequency, f_{Switch with a switch body}Is the driving switching frequency, f_{Dominant frequency}Is the main frequency signal of the logic chip.

It should be noted that, in general, increasing the value of the integral term coefficient Ki will improve the rapidity of the system and reduce the steady-state error, but will also reduce the stability of the system; the adjustment of the proportional term coefficient Kp can adopt the setting that the maximum value of the proportional term coefficient Kp does not exceed the maximum normal output countless clicking duty ratio Ton divided by the maximum rotating speed n; the minimum value of the scale factor Kp is adjusted from one tenth of the maximum value of the scale factor Kp, i.e. when the maximum value of the scale factor Kp is 10, where the minimum value of the scale factor Kp is 1, from the scale factor Kp = 1; and multiplying the value of oscillation divergence of the brushless motor by 0.6-0.7 as a preliminary proportional coefficient Kp during adjustment of the proportional coefficient Kp.

Examples

If the error of the system is large, the integral term coefficient Ki needs to be finely adjusted, the integral term coefficient Ki is increased to be diverged by the system, if the error still does not meet the target, the proportional term coefficient Kp can be reduced, so that the rapidity is sacrificed, but the stability of the system is improved, and the integral term coefficient Ki can be continuously increased; stability, rapidity and steady-state errors are always mutually restricted, so that parameters with a relatively limited limit are not required to be adopted for improving the performance of the system when the parameters are debugged, the motor is easy to be unstable after long-time running or influenced by other factors, and other strategies can be considered when the performance requirements are relatively high.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.