Motor drive control system and method with speed and position feedback

Abstract

The present invention relates to the field of motor control, and in particular to a motor transmission control system and method with speed and position feedback. It includes: generating a corresponding control signal based on a motion instruction, starting the motor and adjusting the voltage and current through the control signal; adjusting the speed and direction of the motor, driving the motor to operate, and obtaining a rotary motion and a motor speed signal; converting the motor's rotary motion into the axial motion of the piston, and obtaining a motion position signal and a speed signal; adjusting the control strategy according to the motor speed signal, the motion position signal and the speed signal, and converting the control strategy into a motion instruction; using an intelligent feedback control algorithm to adjust the motor's operating state; introducing an intelligent return calibration technology to dynamically calibrate the collected real-time data, and feeding back the calibrated data to each module of the motor transmission control system. It solves the technical problems of current fluctuation and unstable speed during motor startup, as well as low motor transmission control accuracy and poor stability.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a motor transmission control system and method with speed and position feedback. Background Art

[0002] In the motor drive control system, the starting, running and stopping of the motor are the key links of the whole system. Traditional motor control methods usually rely on fixed control parameters and simple feedback mechanisms, which are difficult to cope with complex operating environments and variable load conditions, resulting in frequent current fluctuations and speed instability during motor startup. Especially in the motor startup phase, excessive current fluctuations will not only cause impacts on the motor itself, but may also cause failures in the transmission system, reducing the reliability and life of the motor drive control system. Modern motor drive control systems require higher dynamic response capabilities and control accuracy to meet the needs of industrial automation and high-performance mechanical equipment.

[0003] However, the above technology has at least the following technical problems: unstable starting caused by current fluctuation and unstable speed during motor starting, and technical problems of low motor transmission control accuracy and poor stability. Summary of the invention

[0004] The present invention provides a motor transmission control system and method with speed and position feedback to solve the problem of unstable starting caused by current fluctuation and unstable speed during motor starting, as well as the technical problems of low motor transmission control accuracy and poor stability.

[0005] The motor transmission control system and method with speed and position feedback of the present invention specifically include the following technical solutions:

[0006] A method for controlling a motor drive with speed and position feedback comprises the following steps:

[0007] S1. Generate corresponding control signals based on the motion commands input by the user, start the motor and adjust the voltage and current through the control signals; during the motor starting process, introduce the adaptive current control algorithm. The specific implementation process of the adaptive current control algorithm is as follows:

[0008] Initial setup and preparation; set initial parameters, reference current , reference voltage and initial time ;

[0009] Before the motor starts, set the initial reference voltage and reference current; determine the initial adaptive coefficient , and ;

[0010] Use sensors to monitor motor voltage in real time and obtain real-time voltage ;

[0011] Calculate current :

[0012] ,

[0013] in, yes The current at the moment indicates the current passing through the motor; It is the reference current, which indicates the standard current value set when the motor drive control system is designed; yes The voltage at the moment indicates the current power supply voltage of the motor; It is the reference voltage, which indicates the standard voltage value set when the motor drive control system is designed; is a time variable, indicating the running time of the motor after it is started;

[0014] After the motor is started, a predictive speed adjustment algorithm is introduced to adjust the speed and direction of the motor, drive the motor to run, and obtain the rotational motion and motor speed signal;

[0015] The specific implementation process of the predicted speed adjustment algorithm is as follows:

[0016] Initialize motor parameters and set target voltage , Maximum Power , Target speed and time step ; and set the prediction coefficient , , ;

[0017] Real-time monitoring and data collection; real-time collection of the motor's current voltage through sensors ; Collect the current power of the motor in real time through the power sensor ; Real-time monitoring of motor speed, real-time acquisition of the current motor speed through the speed sensor ;

[0018] Predicted speed calculation: Calculate the predicted speed based on the collected current motor voltage , Current Power and current speed , use the predicted speed formula to calculate the speed at the next moment :

[0019] ,

[0020] Adjust the drive circuit; according to the predicted speed and the set target speed , calculate the voltage amount that needs to be adjusted :

[0021] ,

[0022] in, is the adjustment factor;

[0023] Based on the calculated voltage adjustment , adjust the output voltage of the drive circuit :

[0024] ,

[0025] in, is the adjusted drive voltage;

[0026] According to the adjusted driving voltage , real-time monitoring and updating of the actual speed of the motor ;

[0027] Convert the motor's rotational motion into the piston's axial motion, optimize the transmission efficiency and stability through couplings and reducers, and obtain motion position and speed signals;

[0028] S2. Calculate the error according to the motor speed signal, the motion position signal and the speed signal as well as the target speed, the target position and the target speed to obtain the position error, the speed error and the speed error; adjust the control strategy based on the position error, the speed error and the speed error, and convert the control strategy into a motion command;

[0029] Adopt intelligent feedback control algorithm, adjust the motor running state based on motion command, motor speed signal, motion position signal and speed signal; The specific implementation process is as follows:

[0030] First, based on the historical motor state data and the current motor state data, the extended Kalman filter method is used to predict the future motor state and obtain the future motor state ; The current motor state data includes the motor speed signal, motion position signal and speed signal; calculate the current motor state and target state The error forms the error vector ; Target state By motion command Decision; based on current motor status and the current error Generate adjusted control instructions , the specific implementation formula is as follows:

[0031] ,

[0032] in, is the adjusted control instruction; , , is the adaptive gain parameter; is the proportional gain parameter; is the integral gain parameter; is the integration variable; is the differential gain parameter; is the current motor state; is the current error vector, which represents the difference between the target state and the current state;

[0033] Based on the future state of the motor and prediction error Generate predictive control instructions :

[0034] ,

[0035] Among them, the prediction error ;

[0036] Based on predictive control instructions and adjusted control instructions , generate control instructions :

[0037] ,

[0038] Pass control instructions to the motor to adjust the speed and direction of the motor;

[0039] Intelligent backhaul calibration technology is introduced for dynamic calibration. The specific implementation process includes:

[0040] The collected real-time data is analyzed using statistical methods to calculate indicator parameters such as average error, maximum error, and minimum error, and then a cluster analysis algorithm is used to analyze the data to obtain analysis results. Based on the analysis results, the Bayesian optimization algorithm is used to adjust the parameters in the intelligent return calibration technology, and repeated tests and adjustments are performed. The calibrated data is fed back to each module of the motor drive control system.

[0041] The motor transmission control system with speed and position feedback is applied to the above-mentioned motor transmission control method with speed and position feedback, and includes the following parts:

[0042] Motor module, transmission module, controller module, feedback control module, calibration module;

[0043] The motor module drives the motor to operate through the control signal sent by the controller module, converts the electrical energy into mechanical energy, generates rotational motion, and obtains the motor speed signal; transmits the rotational motion to the transmission module, and feeds back the motor speed signal to the controller module and the feedback control module;

[0044] The transmission module converts the rotational motion of the motor into the axial motion of the piston, optimizes the transmission efficiency and stability through the coupling and reducer, and obtains the motion position signal and speed signal at the same time; and feeds the motion position signal and speed signal back to the controller module and the feedback control module;

[0045] The controller module generates a corresponding control signal based on the motion command input by the user and sends the control signal to the motor module; adjusts the speed and direction of the motor, adjusts the control strategy according to the motor speed signal, motion position signal and speed signal, generates motion commands based on the control strategy and feeds them back to the feedback control module;

[0046] The feedback control module uses intelligent feedback control algorithm to adjust the motor operation state based on motion instructions, motor speed signal, motion position signal and speed signal;

[0047] The calibration module collects data from each module and introduces intelligent return calibration technology for dynamic calibration.

[0048] The beneficial effects of the technical solution of the present invention are:

[0049] 1. By introducing an adaptive current control algorithm, the current during the startup process is adjusted to avoid the problem of unstable startup caused by current fluctuations, ensuring that the current is stable during the motor startup process, reducing the impact of current fluctuations on the motor, and improving the stability and reliability of the startup process. Avoid overcurrent during motor startup and protect the safety of the motor and transmission system. Introduce a predictive speed adjustment algorithm to monitor voltage, power and speed in real time, calculate and adjust the voltage to maintain the target speed. By predicting and adjusting the speed, the motor can quickly reach and maintain the set target speed, avoid speed instability, improve the dynamic response capability and control accuracy of the motor transmission control system, and ensure the stability of the motor during operation. The introduction of an adaptive current control algorithm and a predictive speed adjustment algorithm achieves efficient, stable and precise motor transmission control.

[0050] 2. Adjust the control strategy according to the motor speed signal, motion position signal and speed signal to ensure motion accuracy and speed. Use the PID control algorithm to adjust the control strategy, and use the control strategy as feedback data to further adjust the motor operation state; use the intelligent feedback control algorithm to dynamically adjust the motor operation state based on motion instructions, motor speed signals, motion position signals and speed signals; through the intelligent feedback control algorithm, the motor transmission control system can be dynamically adjusted according to the real-time state, improving the control accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a structural diagram of the motor transmission control system with speed and position feedback according to the present invention;

[0052] Figure 2 This is a flow chart of the motor transmission control method with speed and position feedback described in the present invention. DETAILED DESCRIPTION

[0053] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0055] The specific scheme of the motor transmission control system and method with speed and position feedback provided by the present invention is described in detail below with reference to the accompanying drawings.

[0056] Refer to the attached Figure 1 , which shows a structural diagram of a motor transmission control system with speed and position feedback provided by an embodiment of the present invention, the system includes the following parts:

[0057] Motor module, transmission module, controller module, feedback control module, calibration module;

[0058] The motor module drives the motor to operate through the control signal sent by the controller module, provides power to drive the transmission control system to operate, and converts electrical energy into mechanical energy to generate rotational motion and obtain a motor speed signal; transmits the rotational motion to the transmission module, and feeds back the motor speed signal to the controller module and the feedback control module;

[0059] The transmission module converts the rotational motion of the motor into the axial motion of the piston, optimizes the transmission efficiency and stability through the coupling and reducer, and the bracket provides stable support to ensure a smooth transmission process. At the same time, the motion position signal and speed signal are obtained, and the motion position signal and speed signal are fed back to the controller module and the feedback control module;

[0060] The controller module generates corresponding control signals based on the motion instructions input by the user, such as the target position and speed, and sends the control signals to the motor module; adjusts the speed and direction of the motor, adjusts the control strategy according to the motor speed signal provided by the motor module and the motion position signal and speed signal provided by the transmission module to ensure the motion accuracy and speed, generates motion instructions based on the control strategy and feeds them back to the feedback control module;

[0061] The feedback control module uses intelligent feedback control algorithms based on motion instructions, motor speed signals, motion position signals and speed signals to adjust the motor operating state, achieve precise control of speed and position, and optimize the system response and stability of the motor transmission control system.

[0062] The calibration module collects data from each module and introduces intelligent return calibration technology for dynamic calibration to ensure the accuracy of the motor transmission control system.

[0063] See attached Figure 2 , which shows a flow chart of a motor transmission control method with speed and position feedback provided by an embodiment of the present invention, the method comprising the following steps:

[0064] S1. Generate corresponding control signals based on the motion instructions input by the user, start the motor and adjust the voltage and current through the control signals; adjust the speed and direction of the motor, drive the motor to operate, obtain rotational motion and motor speed signals; convert the rotational motion of the motor into axial motion of the piston, optimize the transmission efficiency and stability through the coupling and reducer, and obtain motion position signals and speed signals;

[0065] The motion instructions input by the user, such as the target position and speed, are converted into control signals, such as converting the position instruction into the rotation angle of the motor and converting the speed instruction into the RPM of the motor. The motor is started and the voltage and current are adjusted through the control signal, and the speed and direction of the motor are further adjusted to drive the motor to run. The electromagnetic structure inside the motor converts electrical energy into mechanical energy, and the rotational motion and motor speed signal are obtained through the above process.

[0066] In order to avoid the problem of unstable motor starting caused by large current fluctuations during motor starting, an adaptive current control algorithm is introduced; the purpose of the adaptive current control algorithm is to ensure a smooth starting process by adjusting the current during motor starting, and avoid the problem of unstable motor starting caused by excessive current fluctuations. The specific implementation process is as follows:

[0067] Initial setup and preparation; set initial parameters, reference current , reference voltage and initial time , initialize the adaptive coefficients according to the expert experience method , and .

[0068] Before the motor starts, set the initial reference voltage and reference current. Determine the initial adaptive coefficient , and ; The adaptive coefficient will be used to adjust the current during the motor starting process.

[0069] Use sensors to monitor motor voltage in real time and obtain real-time voltage .

[0070] Calculate current :

[0071] ,

[0072] in, It's time The current at this moment indicates the current passing through the motor. It is the reference current, which indicates the standard current value set when the motor drive control system is designed. It's time The voltage at the moment indicates the current power supply voltage of the motor. It is the reference voltage, which indicates the standard voltage value set when the motor drive control system is designed. is a time variable, which indicates the running time after the motor is started. , and is an adaptive coefficient used to adjust the sensitivity and response speed of current control, which is determined through experiments and optimization.

[0073] The adaptive current control algorithm dynamically adjusts the current value by monitoring the real-time voltage and time to ensure the smooth current during the motor startup process and reduce the impact of current fluctuations on the motor. By introducing logarithmic terms, square root terms, and exponential terms, the smooth change of current is achieved, which improves the stability and reliability of motor startup.

[0074] In order to avoid the speed being unstable after the motor starts and failing to accurately reach the set target speed, a predictive speed adjustment algorithm is introduced to solve the speed instability problem. The specific implementation process is as follows:

[0075] Initialize and preset parameters; initialize motor parameters and set target voltage , Maximum Power , Target speed and time step . Set the prediction coefficient based on expert experience , , .

[0076] Real-time monitoring and data collection; real-time collection of the motor's current voltage through sensors . The current power of the motor is collected in real time through the power sensor . Real-time monitoring of motor speed, real-time acquisition of the current motor speed through the speed sensor .

[0077] Predicted speed calculation: Calculate the predicted speed based on the collected current motor voltage , Current Power and current speed , use the predicted speed formula to calculate the speed at the next moment :

[0078] ,

[0079] in, Used to smooth the impact of voltage and prevent excessive voltage fluctuations. Ensure proper power ratio to prevent overload. Used to control the speed change rate to avoid drastic changes in speed.

[0080] Adjust the drive circuit; according to the predicted speed and the set target speed , calculate the voltage amount that needs to be adjusted :

[0081] ,

[0082] in, It is the adjustment coefficient, which is determined through debugging and is used to control the voltage adjustment amplitude.

[0083] Based on the calculated voltage adjustment , adjust the output voltage of the drive circuit :

[0084] ,

[0085] in, is the adjusted drive voltage used to control the motor speed.

[0086] According to the adjusted driving voltage , real-time monitoring and updating of the actual speed of the motor .

[0087] After the above processing, the motor circuit is driven according to the adjusted voltage and current signals to ensure that the motor starts smoothly according to the calculated results.

[0088] The motor's rotational motion is converted into the axial motion of the piston, the transmission efficiency and stability are optimized through couplings and reducers, and the motion position signal and speed signal are obtained using sensors.

[0089] S2. Adjust the control strategy according to the motor speed signal, motion position signal and speed signal, and convert the control strategy into motion instructions; use intelligent feedback control algorithm to adjust the motor operation state; introduce intelligent return calibration technology to dynamically calibrate the collected real-time data, and feed back the calibrated data to each module of the motor transmission control system.

[0090] According to the motor speed signal, motion position signal, speed signal, target speed, target position, and target speed, the error is calculated to obtain the position error, speed error, and speed error; based on the position error, speed error, and speed error, the control strategy is adjusted using the existing PID control algorithm to ensure motion accuracy and speed. The control strategy is converted into motion instructions, such as the motor's speed, direction, and acceleration.

[0091] The control strategy is used as feedback data to further adjust the motor operating state to ensure that the target position and speed are achieved.

[0092] The intelligent feedback control algorithm is further used to adjust the motor operation state based on the motion command, motor speed signal, motion position signal and speed signal to achieve precise control of speed and position. The specific implementation process is as follows:

[0093] First, based on the historical motor state data and the current motor state data, the existing extended Kalman filter method is used to predict the future motor state and obtain the future motor state ; The current motor state data includes the motor speed signal, motion position signal and speed signal; calculate the current motor state and target state The error forms the error vector ; Target state By motion command Decision. Based on the current motor status and the current error Generate adjusted control instructions , the specific implementation formula is as follows:

[0094] ,

[0095] in, is the adjusted control instruction; , , It is an adaptive gain parameter that dynamically adjusts the control gain to enhance the adaptability and response speed of the motor drive control system; is the proportional gain parameter, which determines the degree of influence of the error on the control output; is the integral gain parameter, which determines the influence of the error integral on the control output; is the integration variable; is the differential gain parameter, which determines the influence of the error derivative on the control output; is the current motor state; is the current error vector, which represents the difference between the target state and the current state.

[0096] Based on the future state of the motor and prediction error Generate predictive control instructions :

[0097] ,

[0098] Among them, the prediction error .

[0099] Based on predictive control instructions and adjusted control instructions , generate control instructions :

[0100] ,

[0101] The control instructions generated It is transmitted to the motor to adjust the speed and direction of the motor to achieve precise control.

[0102] Furthermore, real-time data is collected from each module of the motor transmission control system, such as the motor speed, current, voltage, temperature, etc. in the motor module; the piston position, speed, acceleration, etc. in the transmission module; the control signal, feedback signal, etc. in the controller module; the error value, adjustment parameter, etc. in the feedback control module. Intelligent return calibration technology is introduced for dynamic calibration to ensure the accuracy of the motor transmission control system. The specific implementation process includes: using the existing statistical analysis method to calculate the index parameters such as average error, maximum error and minimum error for the collected real-time data, and then using the existing cluster analysis algorithm to perform data analysis to obtain the analysis results; according to the analysis results, the existing Bayesian optimization algorithm is used to adjust the parameters in the intelligent return calibration technology, and repeated testing and adjustment are performed to ensure the stability and efficiency of the intelligent return calibration technology. The calibrated data is fed back to each module of the motor transmission control system to ensure the accuracy of the data and improve the accuracy of the motor transmission control system.

[0103] In summary, a motor transmission control system and method with speed and position feedback is completed.

[0104] The order of the embodiments of the invention is for description only and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0105] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0106] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A motor drive control method with speed and position feedback, characterized in that: The following steps are involved: S1. Generate corresponding control signals based on the motion commands input by the user, start the motor and adjust the voltage and current through the control signals; during the motor starting process, introduce the adaptive current control algorithm. The specific implementation process of the adaptive current control algorithm is as follows: Initial setup and preparation; set initial parameters, reference current , reference voltage and initial time ; Before the motor starts, set the initial reference voltage and reference current; determine the initial adaptive coefficient , and ; Use sensors to monitor motor voltage in real time and obtain real-time voltage ; Calculate current : ， in, yes The current at the moment indicates the current passing through the motor; It is the reference current, which indicates the standard current value set when the motor drive control system is designed; yes The voltage at the moment indicates the current power supply voltage of the motor; It is the reference voltage, which indicates the standard voltage value set when the motor drive control system is designed; is a time variable, indicating the running time of the motor after it is started; After the motor is started, a predictive speed adjustment algorithm is introduced to adjust the speed and direction of the motor, drive the motor to run, and obtain the rotational motion and motor speed signal; The specific implementation process of the predicted speed adjustment algorithm is as follows: Initialize motor parameters and set target voltage , Maximum Power , Target speed and time step ; and set the prediction coefficient , , ; Real-time monitoring and data collection; real-time collection of the motor's current voltage through sensors ; Collect the current power of the motor in real time through the power sensor ; Real-time monitoring of motor speed, real-time acquisition of the current motor speed through the speed sensor ; Predicted speed calculation: Calculate the predicted speed based on the collected current motor voltage , Current Power and current speed , use the predicted speed formula to calculate the speed at the next moment : ， Adjust the drive circuit; according to the predicted speed and the set target speed , calculate the voltage amount that needs to be adjusted : ， in, is the adjustment factor; Based on the calculated voltage adjustment , adjust the output voltage of the drive circuit : ， in, is the adjusted drive voltage; According to the adjusted driving voltage , real-time monitoring and updating of the actual speed of the motor ; Convert the motor's rotational motion into the piston's axial motion, optimize the transmission efficiency and stability through couplings and reducers, and obtain motion position and speed signals; S2. Calculate the error according to the motor speed signal, the motion position signal and the speed signal as well as the target speed, the target position and the target speed to obtain the position error, the speed error and the speed error; adjust the control strategy based on the position error, the speed error and the speed error, and convert the control strategy into a motion command; Adopt intelligent feedback control algorithm, adjust the motor running state based on motion command, motor speed signal, motion position signal and speed signal; The specific implementation process is as follows: First, based on the historical motor state data and the current motor state data, the extended Kalman filter method is used to predict the future motor state and obtain the future motor state ; The current motor state data includes the motor speed signal, motion position signal and speed signal; calculate the current motor state and target state The error forms the error vector ; Target state By motion command Decision; based on current motor status and the current error Generate adjusted control instructions , the specific implementation formula is as follows: ， in, is the adjusted control instruction; , , is the adaptive gain parameter; is the proportional gain parameter; is the integral gain parameter; is the integration variable; is the differential gain parameter; is the current motor state; is the current error vector, which represents the difference between the target state and the current state; Based on the future state of the motor and prediction error Generate predictive control instructions : ， Among them, the prediction error ; Based on predictive control instructions and adjusted control instructions , generate control instructions : ， Pass control instructions to the motor to adjust the speed and direction of the motor; Intelligent backhaul calibration technology is introduced for dynamic calibration. The specific implementation process includes: The collected real-time data is analyzed using statistical methods to calculate the index parameters of average error, maximum error and minimum error, and then the cluster analysis algorithm is used to analyze the data to obtain the analysis results. According to the analysis results, the Bayesian optimization algorithm is used to adjust the parameters in the intelligent return calibration technology, and repeated tests and adjustments are performed. The calibrated data is fed back to each module of the motor drive control system.

2. A motor transmission control system with speed and position feedback, applied to the motor transmission control method with speed and position feedback as claimed in claim 1, characterized in that: Includes the following sections: Motor module, transmission module, controller module, feedback control module, calibration module; The motor module drives the motor to operate through the control signal sent by the controller module, converts the electrical energy into mechanical energy, generates rotational motion, and obtains the motor speed signal; transmits the rotational motion to the transmission module, and feeds back the motor speed signal to the controller module and the feedback control module; The transmission module converts the rotational motion of the motor into the axial motion of the piston, optimizes the transmission efficiency and stability through the coupling and reducer, and obtains the motion position signal and speed signal at the same time; and feeds the motion position signal and speed signal back to the controller module and the feedback control module; The controller module generates a corresponding control signal based on the motion command input by the user and sends the control signal to the motor module; adjusts the speed and direction of the motor, adjusts the control strategy according to the motor speed signal, motion position signal and speed signal, generates motion commands based on the control strategy and feeds them back to the feedback control module; The feedback control module uses intelligent feedback control algorithm to adjust the motor operation state based on motion instructions, motor speed signal, motion position signal and speed signal; The calibration module collects data from each module and introduces intelligent return calibration technology for dynamic calibration.

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