A motor control method and device based on filter error

Abstract

The invention relates to a motor control method and device based on filtering error, wherein, the method comprises the following steps: S21, subjecting the motor feedback speed to first-order speed filtering , and subjecting the command speed to first-order speed filtering; S22, performing a difference operation between the original command speed and the first-order filtered command speed, and summing the result of the difference operation with the first-order filtered motor feedback speed to obtain a summing speed; S23, performing a difference operation between the summing speed and the original command speed, and then transmitting the operation result to the speed loop PID processing module. The apparatus includes a memory, a processor, and a microcomputer program stored on the memory and capable of running on the processor, which performs the method described above when the processor executes the program.

Description

technical field [0001] The invention relates to a motor control method and device based on filtering errors, belonging to the field of motor electrical control. Background technique [0002] Today's closed-loop automatic control techniques are based on feedback to reduce uncertainty. The elements of feedback theory consist of three parts: measure, compare, and perform. The key to measure is the actual value of the controlled variable, compare it with the expected value, use this deviation to correct the response of the system, and perform regulatory control. In engineering practice, the most widely used PID controller (proportional-integral-derivative controller) is composed of proportional unit P, integral unit I and differential unit D. The basis of PID control is proportional control; integral control can eliminate steady-state error, but may increase overshoot; differential control can speed up the response speed of large inertia system and weaken the overshoot tendenc...

AI Technical Summary

Problems solved by technology

[0004] In addition, because the speed range of the servo motor is large, and the resolution of the encoder is limited, it is necessary to add a filter link to achieve high-precision low-speed control

However, if only the feedback speed is filtered, the performance of dynamic speed regulation will be deteriorated

If a ramp command input signal whose acceleration time is the same as the speed filter time constant is input, after passing through the PID controller, the overshoot can reach 50%, causing the motor to vibrate seriously at low speed

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