Incremental PID controller in motor control

Abstract

The invention provides an incremental PID controller in motor control. A pre-amplifier A0 is connected with a preset current sampling module for outputting error current, after passing through a first saturation arithmetic unit, and then is connected with the input end of a first mixer respectively through a first current branch circuit without any setting, a second current branch circuit provided with a post-amplifier B1 and a third current branch circuit provided with a post-amplifier B2; the amplification coefficients of the three amplifiers are respectively Kp+Ki+Kd, and the second saturation arithmetic unit is connected with a preset voltage output module for outputting feed-forward voltage and is connected with the input end of the first mixer through a second mixer; and the output end of the first mixer is connected with a preset operation module for receiving instruction voltage through a third saturation arithmetic unit, and forms a negative feedback circuit with the first mixer. By implementing the invention, the overshoot of the current loop controlled by a motor can be suppressed to realize PID output amplitude limiting, and the problem of very long overshoot time or repeated oscillation of the output voltage in the prior art is solved.

Description

technical field [0001] The invention relates to the technical field of electromechanical integration, in particular to an incremental PID controller in motor control. Background technique [0002] Such as figure 1 As shown, the current closed-loop control model is used in the motor control. In this current closed-loop control model, the open-loop transfer function of the loop is Among them, L s is the motor inductance; R s is the motor resistance; T s is the discrete computing period; T pwm is the PWM modulation period; is a continuous model of PID, including two gain links, K p and and At this time, the incremental PID controller in the current closed-loop control model, such as figure 2 shown. where the amplifier A 0 Amplification factor = K p +K i +K d , amplifier A 1 Amplification factor = -K p +2K d , amplifier A 2 Amplification factor = K d , max, min are the maximum and minimum values ​​of the PID output saturation operation, U cap is the bus...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the embodiment of the present invention is to provide an incremental PID controller in motor control, which can overshoot the current loop of motor control Suppression to achieve PID output limiting, which solves the problems of long overshoot time or repeated oscillation of output voltage in the prior art

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