CN113156809A - Motor rotating speed control method based on differential regulation improved PD algorithm - Google Patents
Motor rotating speed control method based on differential regulation improved PD algorithm Download PDFInfo
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- CN113156809A CN113156809A CN202110436573.9A CN202110436573A CN113156809A CN 113156809 A CN113156809 A CN 113156809A CN 202110436573 A CN202110436573 A CN 202110436573A CN 113156809 A CN113156809 A CN 113156809A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention discloses a motor rotating speed control method based on a differential procedure improved PD algorithm, wherein a controlled object target is set as a motor rotating speed, a differential procedure improved PD controller can carry out self-adaptive change through a designed nonlinear fn function, and a rotating speed error input by a system is converted into a control quantity to act on the controlled object. The motor rotating speed control method based on the differential regulation improved PD algorithm combines the advantages of linear PID and nonlinear PID, can greatly improve the response speed of the system, enables the rapidity and the stability to be optimal, can greatly improve the control performance of the system, and expands the application range of the system.
Description
Technical Field
The invention relates to the technical field of motor rotating speed control methods, in particular to a motor rotating speed control method based on a differential rule improved PD algorithm.
Background
In recent years, with continuous innovation of industrial technologies and steady progress of society, requirements of social production and life for functions and performance of various electric appliances are more and more strict, and particularly in the aspect of motor technologies, the requirements are directly related to effective conversion and utilization of energy and development of energy. In order to meet the requirement of high-speed and large-capacity development of modern industrial production, the effective control of the motor speed becomes a trend, and the application of the motor speed control is wider. The motor rotating speed control gradually enters the sight of people with the advantages of simple structure, convenient manufacture, low manufacturing cost, stable operation, high efficiency, energy conservation and the like, and plays a role which is difficult to replace in the field of a plurality of industrial manufacturing. In the production of modern industry, the motor rotating speed control is not only applied to the application occasions of high-performance speed regulation technologies such as electric vehicles, elevator machine tools, textile and paper making and the like, but also mainly aims at realizing speed regulation and energy conservation on the motor of a dragging fan water pump compressor, adopts a running mode of regulating flow by speed regulation, achieves good energy-saving effect, and powerfully promotes the rapid development of the motor rotating speed control technology. The quality of the control performance of the motor speed regulating system directly affects the reliability and control precision of the system, and particularly in the field of high speed and high precision, the selection of the motor is more important. Today, ac motor speed regulation systems have replaced dc motor systems. Because a mechanical commutator and an electric brush are required to be arranged on the direct current motor, the speed regulation has inherent structural defects and influences the reliability of operation, and the direct current motor is far from being suitable for the requirement of the development of modern industrial production to high speed and large capacity.
Disclosure of Invention
The invention aims to overcome the technical defects and provides a motor rotating speed control method based on a differential regulation improved PD algorithm, which is based on a differential regulation improved PID control method, not only keeps the simple structure of the traditional PID controller, but also combines the stability and the rapidity of the system to carry out reasonable dynamic process planning, can realize the stable and rapid control of the motor, and has better control effect when being applied to nonlinear, time-varying and other complex systems.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a motor rotating speed control method based on a differential rule improved PD algorithm comprises the following steps:
step (1): designing a nonlinear fn function;
step (2): designing a PD controller with improved differentiation rule, inputting an error signal e (t) of the rotating speed of the motor, and outputting a control quantity U of the PD with improved differentiation rulenpid；
And (3): control quantity U of PD improved by differentiation regulation of outputnpidActing on the motor to control the rotating speed.
Preferably, the non-linear fn function is:
wherein x is1、x2Threshold value, x, selected according to the desired output of the system2The value is generally greater than 1, A, B is the amplification factor of the differential action, and B is generally taken>1>The values of a, a are usually small.
Compared with the prior art, the invention has the advantages that: a composite nonlinear control structure is adopted, linear PD and nonlinear PD are combined, proportion P adopts a linear structure, proportion D adopts a nonlinear structure, and differentiation regulation is carried out on the nonlinear part, so that the system has enough rapidity, certain stability is guaranteed, and the control system has the characteristics of high response and high stability.
Drawings
Fig. 1 is a motor rotation speed control structure diagram of a motor rotation speed control method based on a differential rule improved PD algorithm of the present invention.
Fig. 2 is a comparison graph of nonlinear functions of a motor speed control method based on a differential rule improved PD algorithm of the present invention.
FIG. 3 is a Simulink simulation model diagram of deviation coupling cooperative control based on improved nonlinear PID of the motor speed control method based on the differential regulation improved PD algorithm.
Fig. 4 is a graph comparing the output of a single shaft motor controlled by non-linear PID and modified PID in Simulink according to a motor speed control method of the present invention based on a differential specification modified PD algorithm.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A motor rotating speed control method based on a differential rule improved PD algorithm comprises the following steps:
step (1): designing a nonlinear fn function;
step (2): designing a PD controller with improved differentiation rule, inputting an error signal e (t) of the rotating speed of the motor, and outputting a control quantity U of the PD with improved differentiation rulenpid；
And (3): control quantity U of PD improved by differentiation regulation of outputnpidActing on the motor to control the rotating speed.
The nonlinear fn function is:
wherein x is1、x2Threshold value, x, selected according to the desired output of the system2The value is generally greater than 1, A, B is the amplification factor of the differential action, and B is generally taken>1>The values of a, a are usually small.
When the method is implemented, a controlled object is set as a second-order system, and a transfer function of the system is as follows:
step (1): designing a non-linear fn function.
First, in the conventional nonlinear PD control, the nonlinear function used is a fal function, and the function structure is as follows:
the method comprises the steps of calculating a function parameter, wherein a belongs to (0, 1), and delta belongs to (0, 1) as the function parameter.
However, when the motor rotation speed error is small, the value of the derivative given by the fal function is still large, which easily destroys the stability of the system. Therefore, in order to solve the problems of the fal function and improve the stability of the control system, the fn function is proposed by improving the fal function.
Wherein x is1、x2Threshold value, x, selected according to the desired output of the system2Values are generally greater than 1. A. B is the amplification of the differential action, and is generally taken>1>The values of a, a are usually small.
As can be seen from fig. 2 in the description, in a low frequency band of the system, that is, when a tracking error of the system is large, an output gain provided by the fn function is larger than an output gain of the fal function, the system can obtain a good dynamic performance and a wide bandwidth, reduce an oscillation degree of the system, and improve a control accuracy and a response speed of the system; in a high frequency band of the system, namely when the tracking error of the system is small, the output gain provided by the fn function is rapidly reduced, the system enters a stable state, the differential action is very small at the moment, and the influence of the error on the stability of the system is reduced; when the tracking error is close to 0, the differential action of the system realizes smooth transition, and when the tracking error is 0, the differential action is removed, so that the amplification phenomenon of high-frequency noise in the system is prevented, and the sudden change of the differential action when the system is stable is prevented, thereby causing the system to be in an unstable state. Thus, with reference to fig. 2, we can intuitively conclude that: compared with the fal function, the fn function is more beneficial to the tracking control of the controller on the controlled system.
Step (2): designing PD controller with improved differentiation rule to input error of motor rotation speedA difference signal e (t) for outputting a control quantity U of the PD modified by the differential rulenpid；
The present invention takes a nonlinear combination of a classical PD form of nonlinear PID and improves on it. The conventional non-linear PID is represented as
u＝k1fal(e1，a1，δ)+k2fal(e2，a2，δ)
Wherein 0 < a1 < 1 < a2, kp＝k1，kdWhen k2 is satisfied, e1 is the motor rotation speed difference of the input controller, and e2 is the motor rotation acceleration difference of the input controller.
Because the differential terms are sensitive to high-frequency noise interference and tracking error response, in order to reduce the influence of the high-frequency interference on the stability of the system and keep the rapidity of the change of the function in the low-frequency band of the system, a more efficient nonlinear fn function is provided, and a nonlinear and linear combined PID control structure is adopted to replace the traditional PID control. The fn function can judge the frequency band of the system according to the tracking input of the system, and set the threshold value of the differential action, thereby reasonably planning the stroke of the differential action, improving the dynamic performance of the differential item at the ascending stage of the system and reducing the oscillation degree; the system tends to be gradually weakened in stabilizing action, so that the amplification of an overlarge differential term to high-frequency noise is avoided, and the stability of the system is damaged.
The differential regulation improved PID controller reserves the rapidity of the differential action in the classical PID control, and simultaneously absorbs the advantage of the rapid convergence speed of the nonlinear function, so that the differential action of the system is rapidly reduced from large gain to small gain, and the smooth transition of the differential action is realized.
And (4): control quantity U of PD improved by differentiation regulation of outputnpidActing on the motor to control the rotating speed.
The input motor rotating speed is 50rad/s, and the transfer function of a controlled object is set as follows:
according to the transfer function of the input signal and the controlled object, the linear PID, the nonlinear PID and the improved nonlinear PID are subjected to parameter setting to obtain the corresponding output curve, and as can be seen from the attached figure 4 in the specification, under the condition that the motor parameters are the same, the linear PID has a faster response speed but a slower stable speed and a poorer dynamic performance, the nonlinear PID has a better dynamic performance but a slower response speed, and the improved PID combines the advantages of the two, so that the control method has better rapidity and stability and better control performance.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (2)
1. A motor rotating speed control method based on a differential rule improved PD algorithm is characterized in that: the method comprises the following steps:
step (1): designing a nonlinear fn function;
step (2): designing a PD controller with improved differentiation rule, inputting an error signal e (t) of the rotating speed of the motor, and outputting a control quantity U of the PD with improved differentiation rulenpid；
And (3): control quantity U of PD improved by differentiation regulation of outputnpidActing on the motor to control the rotating speed.
2. The motor speed control method based on the differential specification improved PD algorithm as claimed in claim 1, characterized in that: the nonlinear fn function is:
wherein x is1、x2Threshold value, x, selected according to the desired output of the system2Values generally greater than 1, A,B is the amplification of the differential action, and is generally taken>1>The values of a, a are usually small.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002023807A (en) * | 2000-06-19 | 2002-01-25 | Kyosei Kan | Method for realizing feedback control for optimally and automatically removing disturbance and device for the same |
| JP2002252997A (en) * | 2001-02-23 | 2002-09-06 | Aisin Seiki Co Ltd | Controlling apparatus of electric motor |
| CN108733057A (en) * | 2018-05-23 | 2018-11-02 | 江苏大学 | A kind of aquaculture wheeler course heading control method based on auto-disturbance rejection technology |
| CN108832853A (en) * | 2018-06-20 | 2018-11-16 | 长春工业大学 | A kind of DC brushless motor speed regulating method based on fuzzy PI-PD control |
| CN111062463A (en) * | 2018-09-07 | 2020-04-24 | 特忆智能科技 | Implementing a multi-layer neural network using a crossbar |
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- 2021-04-22 CN CN202110436573.9A patent/CN113156809A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002023807A (en) * | 2000-06-19 | 2002-01-25 | Kyosei Kan | Method for realizing feedback control for optimally and automatically removing disturbance and device for the same |
| JP2002252997A (en) * | 2001-02-23 | 2002-09-06 | Aisin Seiki Co Ltd | Controlling apparatus of electric motor |
| CN108733057A (en) * | 2018-05-23 | 2018-11-02 | 江苏大学 | A kind of aquaculture wheeler course heading control method based on auto-disturbance rejection technology |
| CN108832853A (en) * | 2018-06-20 | 2018-11-16 | 长春工业大学 | A kind of DC brushless motor speed regulating method based on fuzzy PI-PD control |
| CN111062463A (en) * | 2018-09-07 | 2020-04-24 | 特忆智能科技 | Implementing a multi-layer neural network using a crossbar |
Non-Patent Citations (1)
| Title |
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| 汪昕杨 等: "基于自校正自抗扰控制的多电机协同系统", 组合机床与自动化加工技术, no. 2, pages 77 - 81 * |
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