CN110247612B - Motor closed-loop control system and method - Google Patents
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Abstract
The invention provides a motor closed-loop control system and a method, comprising a forward processing module, a control object module connected with the forward processing module, and a system identification module which has connection relation with the forward processing module and the control object module; the forward processing module is used for processing an excitation signal to be input into the motor according to the real-time parameters of the motor and sending a first signal generated after processing to the control object module; the control object module is used for processing the received first signal, exciting the motor by using a second signal generated by processing, and detecting actual voltage at two ends of the motor; the system identification module is used for detecting an error signal generated between the predicted voltage and the actual voltage at two ends of the motor, determining a real-time parameter of the motor by using the error signal, and feeding the determined real-time parameter back to the forward processing module. The invention can realize parameter tracking and feedback control on the motor and is beneficial to ensuring the stable work of the motor.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic control, in particular to a motor closed-loop control system and a motor closed-loop control method.
[ background of the invention ]
In the motor in the prior art, excitation signals are often fixed, but the states and parameters of the motor units are affected by conditions of different batches, different environments, different postures and the like to generate differences, so that the motor may not work normally.
Therefore, it is necessary to provide a solution for parameter tracking and feedback control of the motor.
[ summary of the invention ]
The invention aims to provide a motor closed-loop control system and a motor closed-loop control method, which can realize parameter tracking and feedback control on a motor monomer.
The technical scheme of the invention is as follows:
a motor closed-loop control system comprises a forward processing module, a control object module connected with the forward processing module, and a system identification module which is connected with the forward processing module and the control object module;
the forward processing module is used for processing an excitation signal to be input into the motor according to the real-time parameters of the motor and sending a first signal generated after processing to the control object module;
the control object module is used for processing the received first signal, exciting the motor by using a second signal generated by processing, and detecting actual voltage at two ends of the motor;
the system identification module is used for detecting an error signal generated between the predicted voltage and the actual voltage at two ends of the motor, determining real-time parameters of the motor by using the error signal, and feeding the determined real-time parameters back to the forward processing module.
A motor closed-loop control method using the motor closed-loop control system includes:
processing an excitation signal to be input into the motor according to the real-time parameters received by the motor to generate a first signal;
after the first signal is processed, exciting the motor by using a second signal generated by processing, and detecting actual voltage at two ends of the motor;
detecting an error signal generated between the predicted voltage and the actual voltage across the motor, determining real-time parameters of the motor using the error signal, and feeding back the determined real-time parameters to the motor.
The invention has the beneficial effects that: the motor closed-loop control system provided by the invention has the advantages that the motor is excited through the control object module, the actual voltages at the two ends of the motor are detected, then the error signal generated between the predicted voltage and the actual voltage at the two ends of the motor is detected through the system identification module, the real-time parameter of the motor is determined, the determined real-time parameter is fed back to the forward processing module, and the forward processing module processes the excitation signal to be input into the motor according to the real-time parameter, so that the parameter tracking and feedback control of the motor are realized, and the stable work of the motor is ensured.
[ description of the drawings ]
FIG. 1 is a schematic diagram of a closed-loop control system for a motor according to an embodiment of the present invention;
FIG. 2 is a detailed structural diagram of a motor closed-loop control system according to an embodiment of the present invention;
FIGS. 3a and 3b are simulation diagrams of a real-time parameter identification result of a motor according to an embodiment of the present invention;
FIG. 4 is a graph showing a real-time parameter fluctuation displacement simulation of a motor according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating steps of a motor closed-loop control method according to an embodiment of the present invention.
[ detailed description ] A
The invention is further described with reference to the following figures and embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a motor closed-loop control system according to an embodiment of the present invention, in this embodiment, a structure of the motor closed-loop control system 100 specifically includes a forward processing module 10, a control object module 20 connected to the forward processing module 10, and a system identification module 30 having a connection relationship with both the forward processing module 10 and the control object module 20. In addition, the control object module 20 is connected to a motor 40 controlled by closing.
Specifically, the forward processing module 10 is configured to process an excitation signal to be input to the motor 40 according to a real-time parameter of the motor 40, and send a first signal generated after the processing to the control object module 20. The processing of the excitation signal may include removing a dc component, modifying, filtering, normalizing, and the like.
The control object module 20 is configured to process the received first signal, excite the motor 40 with a second signal generated by the processing, detect an actual voltage across the motor 40, and send the detected actual voltage to the system identification module 30. The processing of the first signal may include digital-to-analog conversion processing, etc.
The system identification module 30 is used for detecting an error signal generated between the predicted voltage and the actual voltage across the motor 40, determining a real-time parameter of the motor 40 by using the error signal, and feeding the determined real-time parameter back to the forward processing module 10.
After the system identification module 30 feeds back the real-time parameters to the forward processing module 10, the forward processing module 10 processes the excitation signal to be input to the motor 40 according to the real-time parameters, and then sends a newly generated processed first signal to the controlled object module 20, the controlled object module 20 is configured to, after processing the newly received first signal, excite the motor 40 using a newly generated second signal, and redetect the actual voltages at the two ends of the motor 40, and send the detected actual voltages to the system identification module 30, the system identification module 30 redetects an error signal generated between the predicted voltage and the actual voltage at the two ends of the motor 40, redetermine the real-time parameters of the motor 40 using the error signal, and feed back the determined real-time parameters to the forward processing module 10, so as to form a closed-loop control system for the motor 40.
The motor 40 may be a Linear motor, a LRA (Linear Resonant Actuators), or the like.
In the embodiment, the parameter tracking and feedback control of the motor 40 can be realized through the closed-loop control system, so that the stable operation of the motor 40 can be effectively ensured.
Further, referring to fig. 2, fig. 2 is a detailed structural schematic diagram of a motor closed-loop control system 100 according to an embodiment of the present invention, in which the forward processing module 10 includes an excitation signal generator 11, the excitation signal generator 11 is configured to generate an excitation signal for driving the motor 40, and a dc removal module 12, an equalization module 13, a shaping module 14, and a normalization module 15, which are connected in sequence.
Specifically, the dc removing module 12 is configured to remove a dc component in the excitation signal to obtain a first excitation signal. Wherein, removing the dc component can avoid the damage of the long-time asymmetric force on the spring of the motor 40. The following may be specifically adopted:
wherein, s [ n ] is the above excitation signal, n is the coordinate of sampling point, frame _ sample is the number of sampling points of frame, and r [ n ] is the signal after removing DC.
The equalizing module 13 is configured to modify the first excitation signal based on the real-time parameter fed back by the system identification module 30 to obtain a second excitation signal.
The equalization module 13 may obtain the second excitation signal by calling a predefined transfer function and then inputting the real-time parameter into the transfer function.
Wherein the real-time parameter comprises a natural frequency ω n Total damping coefficient ζ t Coefficient of electromagnetic force phi 0 Resistance value R eb Coefficient of stiffness k d The equalization module 13 may also be configured to:
defining the transfer function expression corresponding to the equalization module 13 as H c (z)：
Wherein,
Ω d representing the desired resonance frequency of the displacement balance and having a typical value of 2 times the current resonance frequency of the motor, f s3 Indicating a preset parameter, Q d A typical value for Q, which represents the desired value of displacement equilibrium, i.e. the quality factor of the motor, is 1.
The shaping module 14 is configured to perform filtering processing on the second excitation signal based on the resonant frequency of the motor 40, and perform zero forcing processing on the waveform start time and the waveform end time of the second excitation signal to obtain a third excitation signal. The shaping module 14 can simultaneously implement two functions, that is, bidirectional low-pass filtering is performed on the waveform of the second excitation signal according to the resonant frequency of the motor 40, so as to improve the vibration noise caused by the high-frequency component of the waveform; and secondly, zero forcing processing is carried out on the waveform starting time and the waveform ending time of the second excitation signal.
The normalization module 15 is configured to perform normalization processing on the third excitation signal to obtain the first signal. The normalization module 15 needs to perform normalization processing of the maximum power amplifier capability on the voltage of the third excitation signal, so that the obtained voltage is between [ -1Vp and +1Vp ].
Further, the control object module 20 is specifically configured to:
after performing digital-to-analog conversion processing on the received first signal, generating a digitized second signal, and exciting the motor 40 by using the second signal; and detecting the voltage values at the two ends of the motor 40, and performing amplification processing and analog-to-digital conversion processing on the voltage values to obtain the actual voltages at the two ends of the motor 40.
Specifically, the controlled object module 20 includes a Digital-to-analog converter (DAC) 21, and the DAC 21 is configured to perform Digital-to-analog conversion processing on the first signal to obtain a digitized second signal.
The control object module 20 further includes a first amplifier 22, and a first resistor 23, a second resistor 24, a third resistor 25, and a fourth resistor 26, and the second signal passes through the first amplifier 22, the first resistor 23, the second resistor 24, the third resistor 25, and the fourth resistor 26, is input to the motor 40, and excites the motor 40.
The control object module 20 further includes a second amplifier 27, a third amplifier 28, a first Analog-to-Digital Converter 29 (ADC), and a second ADC 210. The second amplifier 27 and the first analog-to-digital converter 29 are configured to perform amplification processing and analog-to-digital conversion processing on current values at two ends of the motor 40 to obtain an actual current Icm [ n ] at two ends of the motor 40; the third amplifier 28 and the second analog-to-digital converter 210 are used for performing amplification processing and analog-to-digital conversion processing on the voltage value across the motor 40 to obtain the actual voltage Icm [ n ] across the motor 40.
Further, the system identification module 30 is specifically configured to:
calling a preset adaptive Least Mean Square (LMS) filtering algorithm;
defining a calculated estimation error function for an adaptive least mean square filtering algorithmIs epsilon oev [n]，ε oev [n]＝v cm [n]-v cp [n]Where n denotes the coordinates of the sampling point, v cm Representing the actual voltage, v, across the motor 40 cp Represents the predicted voltage across the motor 40; estimating an error function epsilon by calculation oev [n]Real-time parameters of the motor 40 are determined by means of iterative calculations.
Wherein, the system identification module 30 comprises an error signal detection module 31, and the error signal detection module 32 passes the error function ε oev [n]The predicted voltage v across the motor 40 can be determined cp [n]With the actual voltage v cm [n]Error signal Err [ n ] generated therebetween]。
The system identification module 30 further includes an adaptive least mean square filter module 32, and the adaptive least mean square filter module 32 can utilize the error signal Err [ n ]]The actual voltage v across the motor 40 cm [n]And the actual current I across the motor 40 cm [n]Real-time parameters of the motor 40 are determined.
Specifically, real-time parameters of the motor 40 may be determined in a point-by-point iterative manner; alternatively, the real-time parameters of the motor 40 are determined by means of frame-by-frame iteration.
Further, the system identification module 30 is also configured to determine a predicted voltage across the motor 40 based on the actual current value across the motor 40.
Specifically, the system identification module 30 may determine the predicted voltage v across the motor 40 in the following calculation manner cp ，
Where n represents the coordinates of the sample point, R eb Represents a resistance value i cm Represents the actual current value, L, across the motor 40 eb Represents the inductance value, phi 0 Represents the electromagnetic coefficient, u d Representing motor vibrator speed;
wherein,
T s representing a preset digital signal sampling period;
u d [n]＝σ u [n]f c·p [n]-σ u [n]f c·p [n-2]-a 1 [n]u d [n-1]-a 2 [n]u d [n-2]；
σ u 、a 1 and a 2 All represent preset parameters, f c·p Representing an electromagnetic force, f c·p [n]＝φ 0 [n]i c·m [n]。
Specifically, the real-time parameters of the motor 40 are determined in a point-by-point iterative manner, including:
for the resistance R eb : to be provided with
And determining:
for the inductance L eb : to be provided with
And determining:
for the filter feedback coefficient a k Comprising a 1 And a 2 : to be provided with
And determining:
for the electromagnetic force coefficient phi 0 : to be provided with
And determining:
specifically, the determining of the real-time parameters of the motor 40 by means of frame-by-frame iteration includes:
for the resistance R eb : to be provided with
And determining:
for the inductance L eb : to be provided with
And determining:
for the filter feedback coefficient a k Comprising a 1 And a 2 : to be provided with
And determining:
for the electromagnetic force coefficient phi 0 : to be provided with
And determining:
by the above method, the real-time parameters of the motor 40 can be determined, and then the determined real-time parameters are fed back to the forward processing module 10, so that the feedback control of the motor 40 can be completed.
Further, in order to better embody the beneficial effects achieved by the present invention, the present embodiment simulates the real-time parameters of the motor in the motor closed-loop control system, where the simulation parameters are shown in table 1, and table 1 is a real-time parameter simulation table of the motor in the present embodiment. Wherein Reb represents the resistance R eb Leb denotes the inductance L eb A1 and a2 represent filter feedback coefficients phi 0 I.e. representing the electromagnetic force coefficient.
Table 1: real-time parameter simulation table of motor
| Real time parameters | Unit of | Set value | |
| Original signal acquisitionSample rate | Hz | 48*10 3 | |
| LMS signal | Hz | 4*10 3 | |
| Frame length | s | 44*10 -3 | |
| Reb iteration step size | / | 0.02 | |
| Leb iteration step size | / | 2*10 -9 | |
| a1 iteration step size | / | 5*10 -6 | |
| a2 iteration step size | / | 2.5*10 -6 | |
| φ 0 Iteration step size | / | 7*10 -3 |
Referring to fig. 3a and 3b, fig. 3a and 3b are simulation diagrams of a real-time parameter identification result of a motor according to an embodiment of the present invention.
Wherein, in FIG. 3b, phi0 represents phi 0 And f0 represents the resonant frequency of the motor.
Further, referring to fig. 4, fig. 4 is a simulation diagram of the real-time parameter fluctuation displacement of the motor in the embodiment of the present invention. In fig. 4, the abscissa (sample) is a sampling point of the Displacement signal output by the motor, the ordinate (Displacement) is the Displacement magnitude, and the unbalanced Displacement waveform represents the Displacement waveform of the real-time parameter of the motor when the motor closed-loop control system provided in this embodiment is not adopted, and it can be seen that the difference between the waveform and the ideal Displacement waveform of the real-time parameter of the motor is large; the equalized displacement waveform represents the displacement waveform of the real-time parameter of the motor when the motor closed-loop control system provided in the embodiment is adopted, and it can be seen that the ideal displacement waveform difference of the real-time parameter of the motor is very small. Therefore, it can be shown that the motor closed-loop control system provided in the present embodiment can enable the motor to achieve the desired output effect under the condition of parameter fluctuation.
Further, the present invention also provides a motor closed-loop control method, referring to fig. 5, fig. 5 is a schematic flow chart of steps of the motor closed-loop control method in the embodiment of the present invention, in the embodiment, the motor closed-loop control method includes:
step 501, processing an excitation signal to be input into a motor according to the real-time parameters received by the motor, and generating a first signal.
Specifically, in this embodiment, the motor is first excited by the excitation signal, then an error signal generated between the predicted voltage across the motor and the actual voltage across the motor is detected, the error signal is used to determine the real-time parameters of the motor, and the determined real-time parameters are fed back to the motor. Further, after the motor receives the fed back real-time parameter, the motor processes the excitation signal to be input into the motor according to the real-time parameter to generate a first signal, processes the first signal, re-excites the motor by using a second signal generated by processing, re-detects the actual voltage at two ends of the motor, re-detects a newly generated error signal between the predicted voltage at two ends of the motor and the actual voltage at two ends of the motor, determines a new real-time parameter of the motor by using the newly generated error signal, and feeds back the newly determined real-time parameter to the motor again, so that the reciprocating cycle can realize the closed-loop control of the motor.
It should be understood that the implementation principle of the motor closed-loop control method is consistent with the implementation principle of the motor closed-loop control system 100, and the specific implementation manner of the present embodiment may refer to the implementation manner described in the motor closed-loop control system 100, and is not described herein again.
It should be understood that the several embodiments provided by the present invention are merely illustrative, for example, the division of the modules described above is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the connections shown or discussed may be indirect couplings or communication connections between devices or modules through some interfaces, and may be electrical, mechanical or other forms. Modules described as separate components may or may not be physically separate, and components described as modules may or may not be physical modules, may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solution of the present application may be substantially or partially contributed to by the prior art, or all or part of the technical solution may be embodied in the form of a software product, the computer software product being stored in a storage medium, the storage medium including: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that, for the sake of simplicity, the foregoing embodiments of the motor closed-loop control method are described as a series of combinations of actions, but those skilled in the art should understand that the present invention is not limited by the described order of actions, because some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the steps and blocks referred to are not necessarily required in this application.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.
Claims (9)
1. A motor closed-loop control system is characterized by comprising a forward processing module, a control object module connected with the forward processing module, and a system identification module which is connected with the forward processing module and the control object module;
the forward processing module is used for processing an excitation signal to be input into the motor according to real-time parameters of the motor and sending a first signal generated after processing to the control object module;
the control object module is used for processing the received first signal, exciting the motor by using a second signal generated by processing, and detecting actual voltage at two ends of the motor;
the system identification module is used for detecting an error signal generated between the predicted voltage and the actual voltage at two ends of the motor, determining a real-time parameter of the motor by using the error signal, and feeding the determined real-time parameter back to the forward processing module;
the system identification module is used for determining the predicted voltage v at two ends of the motor according to the following calculation mode cp ：
Where n represents the coordinates of the sample point, R eb Represents a resistance value i cm Representing the actual current value, L, across the motor eb Represents the inductance value, phi 0 Represents the electromagnetic coefficient, u d Representing motor vibrator speed;
wherein,
T s representing a preset digital signal sampling period; u. u d [n]＝σ u [n]f c·p [n]-σ u [n]f c·p [n-2]-a 1 [n]u d [n-1]-a 2 [n]u d [n-2]，σ u 、a 1 And a 2 All represent preset parameters, f c·p Representing an electromagnetic force, f c·p [n]＝φ 0 [n]i c·m [n]。
2. The closed-loop control system for a motor of claim 1, wherein: the forward processing module comprises a direct current removing module, a balancing module, a shaping module and a normalization module which are connected in sequence;
the direct current removing module is used for removing a direct current component in the excitation signal to obtain a first excitation signal;
the equalization module is used for correcting the first excitation signal based on the real-time parameters fed back by the system identification module to obtain a second excitation signal;
the shaping module is used for carrying out filtering processing on the second excitation signal based on the resonant frequency of the motor and carrying out zero forcing processing on the waveform starting time and the waveform ending time of the second excitation signal to obtain a third excitation signal;
the normalization module is used for performing normalization processing on the third excitation signal to obtain the first signal.
3. The motor closed-loop control system of claim 2, wherein the equalization module is specifically configured to:
transferring a transfer function corresponding to the balancing module;
and inputting the real-time parameters into the transfer function to obtain the second excitation signal.
4. The motor closed-loop control system of claim 3, wherein the equalization module is further configured to:
defining the transfer function corresponding to the equalization module as H c (z)，
Wherein,
Ω d representing the desired resonance frequency, f, of the displacement equilibrium s3 Indicating a preset parameter, Q d Representing the desired Q value, ω, of the displacement balance n 、ζ t 、φ 0 、R eb 、k d All belong to the real-time parameter, and ω n Indicates natural frequency, ζ t Represents the total damping coefficient, phi 0 Represents the electromagnetic force coefficient, R eb Represents a resistance value, k d Representing the stiffness coefficient.
5. The motor closed-loop control system of claim 1, wherein the control object module is specifically configured to:
after the received first signal is subjected to digital-to-analog conversion processing, a digital second signal is generated, and the motor is excited by the second signal;
and detecting voltage values at two ends of the motor, and obtaining actual voltages at two ends of the motor after amplifying and performing analog-to-digital conversion on the voltage values.
6. The motor closed-loop control system of claim 1, wherein the system identification module is configured to:
calling a preset adaptive least mean square filtering algorithm;
defining a calculated estimation error function of the adaptive least mean square filtering algorithm as ε oev [n]，ε oev [n]＝v cm [n]-v cp [n]Where n denotes the coordinates of the sampling point, v cm Representing the actual voltage, v, across the motor cp Representing a predicted voltage across the motor;
estimating an error function epsilon using said calculation oev [n]And determining real-time parameters of the motor in an iterative calculation mode.
7. The motor closed-loop control system of claim 6, wherein said estimating an error function ε using said calculation oev [n]Determining real-time parameters of the motor by means of iterative calculation, comprising:
determining real-time parameters of the motor in a point-by-point iteration mode;
or, determining real-time parameters of the motor in a mode of iteration frame by frame.
8. The motor closed-loop control system of claim 6, wherein the system identification module is further configured to:
based on the actual current value across the motor, a predicted voltage across the motor is determined.
9. A motor closed-loop control method using the motor closed-loop control system according to any one of claims 1 to 8, the method comprising:
processing an excitation signal to be input into the motor according to the real-time parameters received by the motor to generate a first signal;
after the first signal is processed, exciting the motor by using a second signal generated by processing, and detecting actual voltage at two ends of the motor;
detecting an error signal generated between the predicted voltage across the motor and the actual voltage, and determining real-time parameters of the motor using the error signal, and feeding back the determined real-time parameters to the motor, wherein the predicted voltage v across the motor is determined in the following calculation manner cp ：
Where n represents the coordinates of the sample point, R eb Represents a resistance value i cm Representing the actual current value, L, across the motor eb Represents the inductance value, phi 0 Represents the electromagnetic coefficient, u d Representing motor vibrator speed;
wherein,
T s to representPresetting a digital signal sampling period; u. of d [n]＝σ u [n]f c·p [n]-σ u [n]f c·p [n-2]-a 1 [n]u d [n-1]-a 2 [n]u d [n-2]，σ u 、a 1 And a 2 All represent preset parameters, f c·p Representing an electromagnetic force, f c·p [n]＝φ 0 [n]i c·m [n]。
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| CN109274308A (en) * | 2018-08-13 | 2019-01-25 | 瑞声科技(新加坡)有限公司 | Parameters of hydraulic motor control system and parameters of hydraulic motor control method |
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| CN102725956B (en) * | 2010-01-27 | 2015-07-01 | 三菱电机株式会社 | Motor control device |
| JP5725766B2 (en) * | 2010-08-30 | 2015-05-27 | キヤノン株式会社 | Drive device and optical apparatus |
| US9873450B2 (en) * | 2016-02-16 | 2018-01-23 | Steering Solutions Ip Holding Corporation | Detection of offset errors in phase current measurement for motor control system |
| CN106712598B (en) * | 2017-03-20 | 2024-01-05 | 深圳市永亿豪电子有限公司 | Motor rotating speed closed-loop control circuit |
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| CN102638207A (en) * | 2011-02-09 | 2012-08-15 | 台达电子工业股份有限公司 | Motor control method and system and digital signal processor therein |
| CN109194238A (en) * | 2018-08-09 | 2019-01-11 | 瑞声科技(新加坡)有限公司 | A kind of motor control system and method based on current feedback signal |
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| WO2020232746A1 (en) | 2020-11-26 |
| CN110247612A (en) | 2019-09-17 |
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