Quick response method for double-feedback control of permanent magnet synchronous motor

Abstract

The invention discloses a quick response method for double-feedback control of a permanent magnet synchronous motor, and belongs to the technical field of permanent magnet synchronous motor control. According to a vector control algorithm, a transmission ratio does not need to be considered, the method is the same as existing three-loop control, only a high-speed magnetic coded disc at a motor end participates in closed-loop control of a current loop, and a low-speed photoelectric coded disc at a load end only serves as feedback information of closed-loop control of a speed loop and a position loop. By running the control strategy, the two-dimensional turntable is the same as the existing direct drive control in positioning and rate control, so that the engineering program is simple, and the two-dimensional turntable can quickly respond as the existing positioning turntable and rate turntable.

Description

Technical Field

[0001] The invention relates to a fast response method for dual feedback control of a permanent magnet synchronous motor, belonging to the technical field of permanent magnet synchronous motor control. Background Art

[0002] In the high-precision, high-stability satellite-borne two-dimensional turntable drive control system, slip rings cannot be used for reliability reasons. Therefore, there are many cables used in conjunction with loads, thermal control implementations and permanent magnet synchronous motors. The effect of these cables will produce nonlinear interference on the two-dimensional turntable, and this cannot be ignored. Especially when doing "pointing" operations, if the PI parameter is set too small, it may not be able to drive if the target angle is not reached. However, if the PI parameter is set too large, after reaching the target angle, the "jitter" is too large, causing the camera on the turntable to be unable to image, making the image blurred. If the motor power supply is turned off, the cable interference torque will cause it to deviate from the target angle. In order to solve this problem, the two-dimensional turntable is indirectly driven with a harmonic reducer. When the turntable reaches the target angle, the motor is no longer controlled, so the "jitter" phenomenon disappears naturally. Therefore, the use of a harmonic reducer can overcome the cable interference torque phenomenon. This solution can be said to kill two birds with one stone. However, according to the existing control strategy, the speed loop control is based on the high-speed magnetic code disk at the motor end. The magnetic code disk does not directly record the number of turns. The usual practice is to multiply the angle information of the optical code disk at the load end by the transmission ratio to obtain the angle of the equivalent motor end, thereby further deducing the number of turns of the magnetic code disk at the motor end, and then combine the angle information of the motor end with the magnetic code disk information at the motor end. This angle information is differentially calculated with the angle information obtained in the previous control cycle to obtain the speed feedback information. Because the photoelectric code disk has noise and not all angle information converted into motor end information is multiplied by the transmission ratio, the superposition of these two errors leads to inaccurate number of turns, which leads to a "big jump" in feedback speed, as shown in the figure. In addition, another problem: it is difficult for the turntable to respond as quickly as direct drive when performing "pointing" and other functions. The transmission ratio needs to be calculated, and it is almost impossible to adjust the transmission ratio in real time. Basically, it cannot be done in one step, but after multiple adjustments, the desired goal can be achieved. In addition to the low pointing accuracy, the key is that it takes a long time and the pointing repeatability accuracy is unstable, which is unacceptable to users. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a fast response method for dual feedback control of a permanent magnet synchronous motor, without considering the transmission ratio of the transmission mechanism and its dynamic changes. Due to the introduction of a closed-loop feedback signal at the load end, if there is a deviation at the load end, the control system can be directly closed-loop, thereby reducing the control delay and achieving fast response in speed mode and "pointing" mode.

[0004] The technical solution of the present invention is: a fast response method of dual feedback control of a permanent magnet synchronous motor, comprising:

[0005] Step S1: Establishing a current loop model based on the motor-end high-speed magnetic code disk feedback;

[0006] Step S2: simulating the motor-end high-speed magnetic code disk feedback current loop model to obtain a motor-end high-speed magnetic code disk feedback current loop simulation result;

[0007] Step S3: Calculate the current error between the simulation result of the motor-end high-speed magnetic code disk feedback current loop and the experimental result of the motor-end high-speed magnetic code disk feedback current loop, and determine whether the maximum current error is less than M1; if not, adjust the current loop parameters and repeat step S2; if yes, otherwise go to step S4;

[0008] Step S4: Establishing a speed loop model based on a low-speed photoelectric encoder at the load end;

[0009] Step S5: simulating the speed loop based on the load-end low-speed photoelectric encoder, using a step waveform and a trapezoidal waveform for tracking simulation, respectively, to obtain a simulation result of the speed loop based on the load-end low-speed photoelectric encoder;

[0010] Step S6: Calculate the speed error between the speed loop simulation result based on the load-end low-speed photoelectric encoder and the speed loop experimental result fed back by the load-end low-speed photoelectric encoder, and determine whether the speed error is less than M2; if not, continue to debug the speed loop parameters and repeat step S5; if yes, proceed to step S7;

[0011] Step S7: Establishing a position loop model based on the load-end low-speed photoelectric encoder as a feedback signal;

[0012] Step S8: simulating the position loop model based on the load-end low-speed photoelectric encoder as the feedback signal to obtain a position loop simulation result based on the load-end low-speed photoelectric encoder as the feedback signal;

[0013] Step S9: Calculate the position error between the load-end low-speed photoelectric encoder feedback position loop simulation result and the load-end low-speed photoelectric encoder feedback position loop experimental result, and determine whether the position error is less than M3; if not, continue to debug the position loop parameters and repeat step S8; if so, the required positioning accuracy is achieved.

[0014] Furthermore, in step S1, a current loop model based on a motor-end high-speed magnetic code disk feedback is established according to a vector control algorithm, including:

[0015] Establishing the current loop transfer function Among them, I F (s) is the current feedback in the complex frequency domain; I C (s) is the current command in the complex frequency domain; R s is the motor phase resistance r p And sampling resistor rs The sum of K IP is the current loop proportional coefficient; K II is the current loop integral coefficient; L P is the motor phase inductance; U DC is the inverter center voltage; r p is the motor phase resistance; r p is the sampling resistor.

[0016] Furthermore, in step S3, M1 is 20 code words.

[0017] Furthermore, in step S4, a speed loop model based on a low-speed photoelectric encoder at the load end is established, including:

[0018] Establishing the speed loop transfer function Among them, ω f (s) is the angular velocity feedback in the complex frequency domain; K FVR is the angular velocity feedforward gain; K VP is the speed loop ratio; K VI is the speed loop integral; ω C (s) is the angular velocity command in the complex frequency domain; J is the total moment of inertia; K T is the motor torque constant.

[0019] Further, in step S6, M2 is 20 code words.

[0020] Furthermore, in step S7, a position loop model based on a load-end low-speed photoelectric encoder as a feedback signal is established, including:

[0021] Establishing the Position Loop Transfer Function Among them, θ f is the angle feedback, θ c is the angle command, K pp is the position loop ratio, K PVFR is the position loop feedforward, K VI is the speed loop ratio, K VFR is the speed loop feedforward, K VI is the velocity loop integral, and J is the total moment of inertia.

[0022] Further, in step S9, M3 is 10 codewords.

[0023] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a fast response method for dual feedback control of a permanent magnet synchronous motor are implemented.

[0024] A fast response device for dual feedback control of a permanent magnet synchronous motor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of a fast response method for dual feedback control of a permanent magnet synchronous motor when executing the computer program.

[0025] The advantages of the present invention compared with the prior art are:

[0026] (1) The present invention adopts a fast response method of dual feedback control of permanent magnet synchronous motor, which uses the high-speed "magnetic code disk" at the motor end to only provide current loop feedback, and the low-speed "photoelectric code disk" at the load end to provide speed feedback and position feedback. This does not require the transmission ratio coefficient G of the transmission mechanism in the modeling and control procedures, and does not need to consider whether the transmission ratio coefficient is constant or dynamically changing. The fast response of the speed mode and the "pointing" mode is achieved directly through the closed loop of the control system.

[0027] (2) The present invention uses the high-speed "magnetic code disk" feedback at the motor end to enter the current loop control, and synchronously samples the phase current of the motor during debugging. The Q-axis current obtained through CLARK transformation and PARK variable is used as the response of the current loop. This Q-axis current feedback isq and the Q-axis command isqref constitute the current loop control, so the current loop is equivalent to a second-order low-pass filter.

[0028] (3) The present invention uses the low-speed "photoelectric encoder" at the load end as the "speed loop" feedback, and performs differential operation on the two adjacent sampling angle information of the photoelectric encoder to obtain the "angular velocity". Although this difference will introduce noise, this noise is usually within the acceptable range for users. The speed loop 3 parameters are continuously adjusted through simulation and experiments, so as to obtain the speed loop response speed and speed control accuracy.

[0029] (4) The present invention adopts the low-speed "photoelectric encoder" at the load end as the "position loop" feedback. This position loop is established on the basis of the previous "speed loop". The mechanism operates in the "position reciprocating" mode. Through simulation and experiment, the two parameters of the position loop can be adjusted, and the angle error is paid attention to. By repeating this process, the response speed and position control accuracy of this position loop can be obtained. When the requirements are met, the mechanism is then put into the "position pointing" mode. Usually, the pointing accuracy reaches within 5 arc seconds, which fully meets the user's index requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0031] Figure 1This is a schematic diagram of the process of the present invention;

[0032] Figure 2 This is a current loop signal flow diagram based on the motor end magnetic code disk of the present invention;

[0033] Figure 3 This is a flow chart of the current loop signal after adjustment based on the motor end magnetic code disk of the present invention;

[0034] Figure 4 This is a flow chart of the speed loop PDFF correction signal based on the load-end photoelectric encoder of the present invention;

[0035] Figure 5 This is a flow chart of the current command to the motor angle response signal according to the transmission ratio model of the present invention;

[0036] Figure 6 The present invention establishes a speed loop control signal flow chart according to the transmission ratio model;

[0037] Figure 7 The present invention establishes a position loop control signal flow chart according to the transmission ratio model;

[0038] Figure 8 This is a flow chart of the position loop signal based on the load-end photoelectric encoder of the present invention. DETAILED DESCRIPTION

[0039] In order to better understand the above technical scheme, the technical scheme of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical scheme of the present invention, rather than limitations on the technical scheme of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0040] The following is a further detailed description of a fast response method for dual feedback control of a permanent magnet synchronous motor provided by an embodiment of the present invention in conjunction with the accompanying drawings of the specification. The specific implementation method may include: Figure 1 As shown, the present invention discloses a fast response method for dual feedback control of a permanent magnet synchronous motor, comprising:

[0041] Step S1: Establish a feedback current loop model based on the motor-end high-speed "magnetic code disk" according to the vector control algorithm;

[0042] Step S2: simulating the feedback current loop model based on the high-speed "magnetic code disk" at the motor end to obtain simulation results;

[0043] Step S3: Calculate the current error between the simulation result and the experimental result of the motor-end high-speed "magnetic code disk" feedback current loop, and determine whether the maximum current error is less than M1. If not, adjust the current loop parameters and repeat step S2; if yes, otherwise go to step 4;

[0044] Step S4: Establishing a speed loop model based on the low-speed “photoelectric encoder” at the load end;

[0045] Step S5: simulating the speed loop based on the low-speed “photoelectric encoder” at the load end, using “step waveform” and “trapezoidal waveform” for tracking simulation, and obtaining simulation results;

[0046] Step S6: Calculate the speed error between the load-end low-speed "photoelectric encoder" feedback speed loop experiment and simulation, and determine whether the speed error is less than M2. If not, continue to debug the speed loop parameters and repeat step S5; if yes, proceed to step 7;

[0047] Step S7: Establishing a position loop model based on the low-speed “photoelectric encoder” at the load end as a feedback signal;

[0048] Step S8: Simulate the position loop based on the low-speed "photoelectric encoder" at the load end to obtain a simulation result;

[0049] Step S9: Calculate the position error of the load-end low-speed "photoelectric encoder" feedback position loop experiment and simulation, and determine whether the position error is less than M3. If not, continue to debug the position loop parameters and repeat step S8; if so, the rapid response method based on dual feedback control of permanent magnet synchronous motor is obtained.

[0050] In step S1, a feedback current loop model based on the high-speed "magnetic code disk" at the motor end is established according to the vector control algorithm:

[0051]

[0052] Among them, I F (s) is the q-axis current feedback in the complex frequency domain, K IP is the current loop ratio, K II is the current loop integral, I C (s) is the q-axis current command in the complex frequency domain, L p Motor phase inductance 0.208mH, U DC The center voltage of the inverter bus is 14V, R s Motor phase resistance r p The sum of the sampling resistance is 0.276Ω, and the motor phase resistance is r p =0.126Ω, sampling resistor r s =0.15Ω.

[0053] When formula 1 takes the following value:

[0054] K IP =0.25; K II =900;u DC =14V;

[0055] The transfer function of equation 1 can be normalized:

[0056]

[0057]

[0058]

[0059]

[0060]

[0061] Establish the speed loop transfer function based on the low-speed "photoelectric encoder" at the load end:

[0062]

[0063] In the formula, ω f (s) is the angular velocity feedback in the complex frequency domain; K FVR The angular velocity feedforward gain is 0.68; K VP Speed ​​loop ratio = 42; K VI The speed loop integral = 40; ω C (s) is the angular velocity command in the complex frequency domain; J is the total moment of inertia = 7.2 kg·m 2 ; K T The motor torque constant = 11.9N·m / A.

[0064] Establish the position loop transfer function based on the load-side low-speed "photoelectric encoder" as the feedback signal:

[0065]

[0066] In the formula, θ f is the angle feedback, θ c is the angle command, K pp Position loop ratio = 85, K PVFR For position loop feedforward = 1, K VI Speed ​​loop ratio = 40, K VFR is the speed loop feedforward = 0.68, J is the total moment of inertia = 7.2kg·m 2 ; K T The motor torque constant = 11.9N·m / A.

[0067] In the solution provided in the embodiment of the present invention, Figure 2-Figure 3 As shown, the present invention provides a fast response method for dual feedback control of a permanent magnet synchronous motor. It is necessary to first establish a current loop based on the "magnetic code disk" at the motor end according to the vector control algorithm. The specific motor armature winding is composed of an inductor and a resistor, and thus has a complex impedance L s+R form. When the voltage is applied to the motor armature to generate the excitation current, it behaves as a first-order inertia link with a negative real pole. Its time constant τ is determined by L / R and is usually tens of milliseconds. The response of this link to the step current command is a slow climbing process, which requires 3τ~5τ to reach the steady-state value. In order to improve the response speed (bandwidth), limit the current limit value, and suppress the current fluctuation caused by the fluctuation of the DC power supply, it is necessary to introduce a current correction link.

[0068] The current correction link adopts a typical proportional-integral (PI) control link. The difference between the current command Ic and the current feedback IF is the error signal, which is applied to the motor armature after PI correction. According to the "Y" connection method of the motor, the motor line resistance and line inductance, and the PI parameters, the current transfer function is derived, the signal flow chart is drawn, the mathematical model is established, the transfer function is adjusted according to the signal flow, and the standard form is obtained. The signal flow chart is reconstructed in MATLAB, and the step response is used to evaluate this performance. The amplitude is about 47.5mA for 250 code words (resolution is 0.19mA / code word), the current loop control response is calculated according to the control theory of -3dB, and the control bandwidth reaches more than 2KHz; the phase is -43°.

[0069] See the current loop spectrum diagram in Figure 2. The current loop spectrum diagram can be replaced by a 2KHz low-pass filter and the current command I can be established in the traditional way. C (Here refers to the Q-axis current command) to the motor angle θ M Response signal flow Figure 5 , we can deduce the velocity loop transfer function, which is a high-order system.

[0070] According to the signal process Figure 5 The following equation can be derived from the signal node. After combining the equations, the electromagnetic torque T can be obtained. E (S) The resulting motor angle response θ M (S) The information is as follows:

[0071]

[0072] Among them, A M Motor end acceleration, A L Load end acceleration, ω M Motor end speed, ω L Load end speed, ω M Motor end speed, ω L Load end speed, T M Motor end torque, T L Load end torque, J M Motor end moment of inertia, J L Load end moment of inertia, K CV Cross-coupled viscous damping, K STorsional stiffness, T E Electromagnetic torque, G transmission mechanism transmission ratio.

[0073] Further correction with speed PI obtains the signal flow Figure 6 The speed loop uses pseudo-differential PI control, referred to as PDFF. According to past experience, the bandwidth of the speed loop is much lower than the bandwidth of the current loop, usually around 20Hz. Therefore, in order to simplify the analysis, the current loop is equivalent to unit gain "1". Figure 6 The signal flow node can be obtained by the following equation. Combining the equations, the speed loop function can be obtained, that is, the speed command ω C To speed response ω F .

[0074] ω F =θ M ·S ω e =ω C -ω F

[0075] I C ≈I F T E =K T I F

[0076]

[0077]

[0078]

[0079] Among them, I C Current loop command, I F Current loop feedback, ω F Motor end speed feedback, ω e Speed ​​error, T M Motor end torque, k T Motor torque constant, θ L Load end angle, G Transmission ratio, J M Motor end moment of inertia, J L Load end moment of inertia, K CV Cross-coupled viscous damping, K S Torsional stiffness, ω C Motor end command, K VP Speed ​​loop ratio, K VI Speed ​​loop integral, K VFR Speed ​​loop feedforward, num(s) is the numerator of the complex frequency domain polynomial, and den(s) is the denominator of the frequency domain polynomial.

[0080] First press Figure 6The control scheme of transmission ratio speed, except for the cables of angle sensor and motor, no other cables are installed in the two-dimensional mechanism to minimize the additional uncertain interference torque, which may be accompanied by "howling". At the same time, the "photoelectric code disk" Pc at the load end and the "magnetic code disk" Pf at the motor end are collected. Pc changes slowly, and Pf changes quickly. In such a short time, it repeats many cycles. In theory, Pc changes about 2.9752 degrees and Pf changes 360 degrees. This is the result calculated based on the transmission ratio. In order to verify the actual constant change relationship, the difference operation is performed in the same time to obtain the speed information: the result is that there are many "spike burr" high-frequency noises. The "spike burr" of speed feedback is almost repeated. This is because the angle information of the high-speed end is obtained by multiplying the "optical code disk" at the load end by the transmission ratio 121, and then the speed information of the high-speed end is obtained by difference, indicating that there is a nonlinear error, and there is obvious "nonlinearity" from the load end to the motor end. The software has processed this periodic high-frequency "spike burr" problem. Although there are some changes, there are still many "spike burrs" and "whistling" sounds. In addition to not meeting user index requirements, this control scheme cannot achieve low-speed (0.1 degrees / second) operation. When the speed is set to 0.5 degrees / second, a "stuck" phenomenon will occur. If the "low-speed (below 0.5 degrees / second)" operation is ignored, in order to eradicate this phenomenon, when the load is completely "disconnected" from the operation, only the simulation parameters are used for control after comparison. It can be seen from the figure that the actual angular velocity fails to meet the speed command requirements for both forward and reverse rotation. Although the speed loop parameters can be modified afterwards, the actual speed can keep up with the command speed. However, when the speed loop control is switched to another position, there may be deviations. This kind of post-debugging is usually difficult for everyone to accept. Further in the attached Figure 6 Based on this, position PI control is added to obtain additional Figure 7 , there is also a similar situation with the speed loop. After one position is adjusted, the angle error will change when it is switched to another. In addition, when the position "pointing" control is performed, the position closed-loop control will stop running when it thinks that the target angle has been reached. At this time, when the target angle is looked at again, the result error is large, and the running trajectory needs to be re-regulated and the closed-loop operation is started again. Sometimes it takes many repetitions to truly reach the target angle that meets the user's indicator requirements. In this way, the time is too long and cannot meet the user's fast pointing requirements. Therefore, the existing control strategy must be changed.

[0081] The new control strategy is based on the fast response of the dual feedback control of the permanent magnet synchronous motor. According to the simulation, the current loop is debugged first, and the parameters of the current loop (K IP =0.25, K II =900), the experimental results show that the effect is similar to that of the current loop using the typical proportional-integral (PI) control link. The control bandwidth of the current loop reaches 2KHz.

[0082] Based on the fast response speed loop debugging of the permanent magnet synchronous motor dual feedback control, the control program is as follows Figure 4 The signal flow chart sets the parameters to obtain speed command and speed feedback. The "howling" is basically inaudible. The speed command is 66 code words / millisecond (5.6648 degrees / second), and the speed feedback also follows the speed command very well. When it is 66 code words / millisecond, the speed simulation error is about 20 code words in the acceleration and deceleration sections, and the average error is close to 0 in the uniform speed section. The speed error curve obtained experimentally has a maximum value of 22 code words for acceleration and deceleration, and a minimum value of -21 code words. In the uniform speed section, the maximum value is 7, the minimum is -8, and the average value of 0.01 code words is "consistent" with the simulation, indicating that the speed loop has been adjusted.

[0083] Based on the fast response position loop debugging of the permanent magnet synchronous motor dual feedback control, the control program is as follows Figure 8 Signal flow chart to set position loop parameters (K PP =85K PVFR =1), the position error ep is obtained by subtracting the position command and the position feedback, and the maximum value is 155 code words, and the minimum value is about -152 code words, which seems to be close to the simulation of about 150 code words. In order to see the position error of the uniform speed section, the rotation range of the uniform speed section is expanded, and the position error ep data is collected again. At this time, the maximum value is 150 code words, and the minimum value is -142 code words. The situation of a uniform speed section is statistically analyzed. The position error of the uniform speed section during forward rotation: the maximum value is 22 code words, the minimum value is -18 code words, and the uniform value is 1.73 code words. The position error of the uniform speed section during reverse rotation: the maximum value is 23 code words, the minimum value is -19 code words, and the uniform value is 3.58 code words, indicating that the position loop has also been debugged. In addition, when the speed is set to 16 code words / milliseconds (1.3733 degrees / second), it is still controlled by the position loop, and the speed feedback closely follows the speed command.

[0084] Finally, a fast-response "position pointing" experiment based on dual-feedback control of a permanent magnet synchronous motor is conducted. The so-called "position pointing" means that the turntable reaches the target position (target angle) from a position (angle) along the shortest path. The speed each time is given by the user, and the acceleration is variable but cannot exceed the limit value (0.6 degrees / second^2). After reaching the target angle, the control accuracy can be measured by the user's usual optical means, but this operation process must pay attention to the speed curve (or obtain the speed by position difference). The speed curve is obtained by "position pointing", which is generated by the angle command after passing through the position loop PI closed loop, and the speed feedback is obtained by differentially taking adjacent angles.

[0085] The present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes Figure 1 The method described.

[0086] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0087] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0088] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0090] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0091] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A fast response method for dual feedback control of a permanent magnet synchronous motor, characterized in that: include: Step S1: Establishing a feedback current loop model based on the motor-end magnetic code disk; Step S2: simulating the motor-end magnetic code disk feedback current loop model to obtain a motor-end magnetic code disk feedback current loop simulation result; Step S3: Calculate the current error between the simulation result of the motor-end magnetic code disk feedback current loop and the experimental result of the motor-end magnetic code disk feedback current loop, and determine whether the maximum current error is less than M1; if not, adjust the current loop parameters and repeat step S2; if yes, otherwise proceed to step S4; Step S4: Establishing a speed loop model based on the photoelectric encoder at the load end; Step S5: simulating the speed loop based on the load-end photoelectric encoder, using a step waveform and a trapezoidal waveform for tracking simulation, respectively, to obtain a simulation result of the speed loop based on the load-end photoelectric encoder; Step S6: Calculate the speed error between the speed loop simulation result based on the load-end photoelectric encoder and the speed loop experimental result fed back by the load-end photoelectric encoder, and determine whether the speed error is less than M2; if not, continue to debug the speed loop parameters and repeat step S5; if yes, proceed to step S7; Step S7: Establishing a position loop model based on the load-end photoelectric encoder as a feedback signal; Step S8: simulating the position loop model based on the load-end photoelectric encoder as the feedback signal to obtain a position loop simulation result based on the load-end photoelectric encoder as the feedback signal; Step S9: Calculate the position error between the load-end photoelectric encoder feedback position loop simulation result and the load-end photoelectric encoder feedback position loop experimental result, and determine whether the position error is less than M3; if not, continue to debug the position loop parameters and repeat step S8; if so, the required positioning accuracy is achieved.

2. A fast response method for dual feedback control of a permanent magnet synchronous motor according to claim 1, characterized in that: In the step S1, a feedback current loop model based on the motor-end magnetic code disk is established according to the vector control algorithm, including: Establishing the current loop transfer function Among them, I F (s) is the current feedback in the complex frequency domain; I C (s) is the current command in the complex frequency domain; R s is the motor phase resistance r p And sampling resistor r s The sum of K IP is the current loop proportional coefficient; K II is the current loop integral coefficient; L P is the motor phase inductance; U DC is the inverter center voltage; r p is the motor phase resistance; r p is the sampling resistor.

3. A fast response method for dual feedback control of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S3, M1 is 20 code words.

4. A fast response method for dual feedback control of a permanent magnet synchronous motor according to claim 1, characterized in that: In the step S4, a speed loop model based on the load-end photoelectric encoder is established, including: Establishing the speed loop transfer function Among them, ω f (s) is the angular velocity feedback in the complex frequency domain; K FVR is the angular velocity feedforward gain; K VP is the speed loop ratio; K VI is the speed loop integral; ω C (s) is the angular velocity command in the complex frequency domain; J is the total moment of inertia; K T is the motor torque constant.

5. The rapid response method of dual feedback control of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S6, M2 is codeword 20.

6. A fast response method for dual feedback control of a permanent magnet synchronous motor according to claim 1, characterized in that: In the step S7, a position loop model based on the load-end photoelectric encoder as a feedback signal is established, including: Establishing the Position Loop Transfer Function Among them, θ f is the angle feedback, θ c is the angle command, K pp is the position loop ratio, K PVFR is the position loop feedforward, K VI is the speed loop ratio, K VFR is the speed loop feedforward, K VI is the velocity loop integral, and J is the total moment of inertia.

7. A fast response method for dual feedback control of a permanent magnet synchronous motor according to claim 1, characterized in that: In the step S9, M3 is a code word of 10.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A fast response device for dual feedback control of a permanent magnet synchronous motor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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