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Direct-current motor speed-position double-closed-loop anti-interference PID control method and system

A DC motor and control method technology, applied in electric controllers, controllers with specific characteristics, etc., can solve the problems of complex design methods and difficult applications of high-order controllers and nonlinear controllers, and achieve convenient and extensive design. Application, the effect of improving control accuracy

Active Publication Date: 2020-11-20
HUAQIAO UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the dynamic characteristics of the speed regulation and position regulation of DC motors are quite different. The linear controller design method is relatively complex and difficult to apply in engineering

Method used

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  • Direct-current motor speed-position double-closed-loop anti-interference PID control method and system
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  • Direct-current motor speed-position double-closed-loop anti-interference PID control method and system

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Experimental program
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Embodiment 1

[0050] figure 1 It is a flowchart of Embodiment 1 of the speed-position double-closed-loop anti-disturbance PID control method for a DC motor of the present invention. see figure 1 , the DC motor speed-position double closed-loop anti-disturbance PID control method includes:

[0051] Step 101: Obtain a set desired angle position value.

[0052] Step 102: Filtering the set desired angular position value to obtain a filtered set desired angular position value.

[0053] This step 102 specifically includes:

[0054] according to Calculate the filtered set desired angular position value in, f y (s) is the filter, ω f is the filter bandwidth, s is the complex frequency domain variable commonly used in control theory, y * (s) is to set the desired angular position value.

[0055] Step 103: Obtain the actual measured angle position value.

[0056] Step 104: Comparing the filtered set desired angular position value with the actual measured angular position value to obtain...

Embodiment 2

[0068] figure 2 It is a schematic diagram of the control process of the speed-position double-closed-loop control in Embodiment 2 of the speed-position double-closed-loop anti-disturbance PID control method for a DC motor of the present invention. see figure 2 , in the DC motor speed-position double closed-loop anti-disturbance PID control method, the control process of the speed-position double closed-loop control specifically includes:

[0069] Set desired angular position y * (s), after filter F y After (s), it is compared with the actual measured position y(s) to form a position tracking error e y (s), through the anti-disturbance PD controller C PD After (s), get the expected speed value u y (s), compared with the actual measured speed n(s), forming a speed tracking error e n (s), through the anti-disturbance PI controller C PI After (s), the control quantity u is formed n (s) (voltage amount), and finally form the speed regulation and position regulation of the...

Embodiment 3

[0096] Figure 6 It is a structural diagram of Embodiment 3 of the DC motor speed-position double closed-loop anti-disturbance PID control system of the present invention. see Figure 6 , the DC motor speed-position double closed-loop anti-disturbance PID control system includes a filter 601 , a first comparator 602 , a position loop anti-disturbance PD controller 603 , a second comparator 604 and a speed loop anti-disturbance PI controller 605 .

[0097] The filter 601 is used to filter the input desired set angle position value, and output the filtered set expected angle position value.

[0098] The filter 601 specifically includes:

[0099] filtering unit for the Calculate the filtered set desired angular position value in, f y (s) is the filter, ω f is the filter bandwidth, s is the complex frequency domain variable commonly used in control theory, y * (s) is to set the desired angular position value.

[0100] The first comparator 602 is connected to the filter...

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Abstract

The invention discloses a direct-current motor speed-position double-closed-loop anti-interference PID control method and system, relating to the technical field of DC motor control, the method comprises steps of respectively establishing a display adjustment relationship among the gain of the position loop anti-interference PD controller, the first integral coefficient, the position loop anti-interference capability and the position loop closed-loop response speed, namely a position loop anti-interference PD controller formula; a display adjustment relationship among a speed loop anti-interference PI controller gain, a second integral coefficient, the speed loop anti-interference capability and the speed loop closed-loop response speed, namely a speed loop anti-interference PI controllerformula; the gain of the position loop anti-interference PD controller determines the anti-interference capability of the position loop, the first integral coefficient determines the closed-loop response speed of the position loop, the gain of the speed loop anti-interference PI controller determines the anti-interference capability of the speed loop, and the second integral coefficient determinesthe closed-loop response speed of the speed loop. The control precision of the direct-current motor can be improved.

Description

technical field [0001] The invention relates to the technical field of DC motor control, in particular to a DC motor speed-position double closed-loop anti-disturbance PID control method and system. Background technique [0002] DC motors have the characteristics of simple structure, reliable operation, and convenient maintenance. They are widely used in industrial systems, such as robots, CNC machine tools, and power systems. Since the control system is susceptible to various disturbances during operation, such as power fluctuations, load fluctuations, and parameter changes, the control performance of the DC motor will be greatly affected. Therefore, overcoming disturbance effects plays an important role in improving the control accuracy of DC motors. [0003] At present, a typical type of DC motor servo system is the speed-position double closed-loop control, which involves the design of the speed controller and the design of the position controller. In industrial applic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 聂卓赟聂方明王德漂朱超
Owner HUAQIAO UNIVERSITY
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