Motor speed loop control method and control system

Abstract

The embodiment of the present invention provides a control method and control system for a motor speed loop, which belongs to the technical field of motor control. The control method includes: obtaining a given target speed of the speed loop; obtaining a given target speed filter value according to the given target speed; calculating the difference between the given target speed and the given target speed filter value and judging whether the difference is greater than a preset difference threshold; in the case where the difference is judged to be greater than the difference threshold, dynamic control is adopted; in the case where the difference is judged to be less than or equal to the difference threshold, steady-state control is adopted. The control method and control system have a good adjustment effect.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a control method and control system for a motor speed loop. Background Art

[0002] The motor's speed loop is a key part of modern motor control systems, used to accurately control the motor's speed. It is a closed-loop control system that often combines a PID controller (or other types of controllers) to adjust the motor's input signal to achieve stable and accurate speed control. The goal of the motor's speed loop is to keep the motor's actual speed consistent with the target speed. Typically, the speed loop is a link in the control system that receives the target speed (setpoint) and compares it to the motor's actual speed, and then adjusts the input signal, usually voltage or current, based on this error to adjust the motor's speed.

[0003] Traditional speed loop PI regulation is prone to problems such as untimely response to the target speed, large overshoot, possible reversal during deceleration, and low steady-state robustness. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a control method and a control system for a motor speed loop, which have good regulation effects.

[0005] In order to achieve the above object, an embodiment of the present invention provides a method for controlling a motor speed loop, comprising:

[0006] Get the given target speed of the speed loop;

[0007] Obtaining a given target speed filtering value according to the given target speed;

[0008] Calculating a difference between the given target speed and a given target speed filter value and determining whether the difference is greater than a preset difference threshold;

[0009] In the case where it is determined that the difference is greater than the difference threshold, dynamic control is adopted;

[0010] When it is determined that the difference is less than or equal to the difference threshold, steady-state control is adopted.

[0011] Optionally, obtaining a given target speed filtering value according to the given target speed includes:

[0012] Get the speed demand response time;

[0013] Calculate the target speed filter parameter according to the demand response time;

[0014] The speed loop feedforward control action time is calculated according to the target speed filter parameter;

[0015] The given target speed filtering value is obtained according to the given target speed and the speed loop feedforward control action time.

[0016] Optionally, dynamic control is employed, including:

[0017] Get the moment of inertia of the motor;

[0018] Calculating angular acceleration according to the given target speed filtered value;

[0019] According to the moment of inertia and angular acceleration, the required torque of the first motor is calculated according to formula (1):

[0020] τ 1 =I*α, (1)

[0021] Among them, τ 1 is the required torque of the first motor, I is the moment of inertia, and α is the angular acceleration;

[0022] The motor is controlled according to the torque required by the first motor.

[0023] Optionally, a steady-state control is employed, including:

[0024] Get the actual speed of the motor;

[0025] Calculating control parameters of a speed loop controller according to the actual speed;

[0026] Calculating a speed difference between the given target speed and the actual speed;

[0027] Calculate a proportional output item and an integral output item according to the speed difference and the control parameter;

[0028] According to the proportional output term and the integral output term, the required torque of the second motor is calculated according to formula (2):

[0029] τ 2 =P o +I o , (2)

[0030] Among them, τ 2 is the torque required by the second motor, P o is the proportional output term, I o is the integral output item;

[0031] The electric motor is controlled according to the torque required by the second electric motor.

[0032] On the other hand, the present invention also provides a control system for a motor speed loop, the control system comprising:

[0033] Given speed filter module;

[0034] A speed feedforward controller connected to the given speed filter module;

[0035] A parameter adaptive adjustment module connected to a speed sensor of the motor;

[0036] A speed regulator, connected to the parameter adaptive adjustment module;

[0037] The speed loop controller switching module is connected with the speed feedforward controller and the speed regulator.

[0038] Optionally, the given speed filtering module is used to:

[0039] Obtain target speed filter parameters and given target speed;

[0040] The speed loop feedforward control action time is calculated according to the target speed filter parameter;

[0041] The given target speed filtering value is obtained according to the given target speed and the speed loop feedforward control action time.

[0042] Optionally, the speed feedforward controller is used to:

[0043] Get the motor's moment of inertia;

[0044] Calculating angular acceleration according to the given target speed filtered value;

[0045] According to the moment of inertia and angular acceleration, the required torque of the first motor is calculated according to formula (1):

[0046] τ 1 =I*α, (1)

[0047] Among them, τ 1 is the required torque of the first motor, I is the moment of inertia, and α is the angular acceleration.

[0048] Optionally, the parameter adaptive adjustment module is used to:

[0049] Get the actual speed of the motor output by the speed sensor;

[0050] The control parameters of the speed loop controller are calculated according to the actual rotation speed.

[0051] Optionally, the speed regulator is used to:

[0052] Calculating a speed difference between the given target speed and the actual speed;

[0053] Calculate a proportional output item and an integral output item according to the speed difference and the control parameter;

[0054] According to the proportional output term and the integral output term, the required torque of the second motor is calculated according to formula (2):

[0055] τ 2 =P o +I o , (2)

[0056] Among them, τ 2 is the torque required by the second motor, P o is the proportional output term, I o is the integral output item.

[0057] Optionally, the speed loop controller switching module is used to:

[0058] Obtaining the given target speed and the given target speed filtering value;

[0059] Calculating a difference between the given target speed and a given target speed filter value and determining whether the difference is greater than a preset difference threshold;

[0060] In the case where it is determined that the difference is greater than the difference threshold, selecting the first motor demand torque control motor;

[0061] When it is determined that the difference is less than or equal to the difference threshold, the second motor demand torque control motor is selected.

[0062] Through the above technical scheme, the control method and control system of the motor speed loop provided by the present invention determine whether to adopt dynamic regulation or steady-state regulation according to the size of the difference between the given target speed and the given target speed filter value, and perform different algorithm control for dynamic regulation and steady-state regulation. Dynamic regulation uses a speed feedforward controller for rapid regulation, which can reduce overshoot, increase the motor regulation speed, and shorten the motor response time. Steady-state control uses a parameter adaptive regulation module and a speed regulator to obtain the actual speed of the motor for joint regulation, which can increase the robustness of the steady state and have a better overall regulation effect.

[0063] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0065] Figure 1is a flow chart of a method for controlling a motor speed loop according to an embodiment of the present invention;

[0066] Figure 2 is a flow chart of a method for obtaining a given target speed filter value according to the given target speed in a method for controlling a motor speed loop according to an embodiment of the present invention;

[0067] Figure 3 is a flow chart of a method for adopting dynamic control in a method for controlling a motor speed loop according to an embodiment of the present invention;

[0068] Figure 4 is a flow chart of a method for adopting steady-state control in a method for controlling a motor speed loop according to an embodiment of the present invention;

[0069] Figure 5 is a schematic diagram of a control system of a motor speed loop according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0071] like Figure 1 FIG. 1 is a flow chart of a method for controlling a motor speed loop according to an embodiment of the present invention. Figure 1 In the control method, the following steps may be included:

[0072] In step S10, a given target speed of the speed loop is obtained;

[0073] In step S11, a given target speed filtering value is obtained according to a given target speed;

[0074] In step S12, the difference between the given target speed and the given target speed filter value is calculated and it is determined whether the difference is greater than a preset difference threshold;

[0075] In step S13, when it is determined that the difference is greater than the difference threshold, dynamic control is adopted;

[0076] In step S14, when it is determined that the difference is less than or equal to the difference threshold, steady-state control is adopted.

[0077] In this Figure 1In the method shown, step S11 is used to obtain a given target speed filter value according to a given target speed. In this embodiment, the method for obtaining a given target speed filter value according to a given target speed may be in various forms known to those skilled in the art. In a preferred example of the present invention, the method for obtaining a given target speed filter value according to a given target speed may include: Figure 2 The steps shown. Figure 2 In the method for obtaining a given target speed filtering value according to a given target speed may include the following steps:

[0078] In step S110, the speed demand response time is obtained;

[0079] In step S111, a target speed filter parameter is calculated based on the demand response time;

[0080] In step S112, the speed loop feedforward control action time is calculated according to the target speed filter parameter;

[0081] In step S113, a given target speed filtering value is obtained according to the given target speed and the speed loop feedforward control action time.

[0082] In this Figure 1 In the method shown, step S13 is used to adopt dynamic control when it is determined that the difference is greater than the difference threshold. In this embodiment, the method of adopting dynamic control can be in various forms known to those skilled in the art. In a preferred example of the present invention, the method of adopting dynamic control can include: Figure 3 The steps shown. Figure 3 In the method of adopting dynamic control, the following steps may be included:

[0083] In step S130, the moment of inertia of the motor is obtained;

[0084] In step S131, the angular acceleration is calculated according to the given target speed filter value;

[0085] In step S132, the first motor required torque is calculated according to the moment of inertia and angular acceleration according to formula (1):

[0086] τ 1 =I*α, (1)

[0087] Among them, τ 1 is the required torque of the first motor, I is the moment of inertia, and α is the angular acceleration;

[0088] In step S133 , the motor is controlled according to the first motor required torque.

[0089] In this Figure 1In the method shown, step S14 is used to adopt steady-state control when it is determined that the difference is less than or equal to the difference threshold. In this embodiment, the method of adopting steady-state control can be in various forms known to those skilled in the art. In a preferred example of the present invention, the method of adopting steady-state control can include: Figure 4 The steps shown. Figure 4 In the method of adopting steady-state control, the following steps may be included:

[0090] In step S140, the actual speed of the motor is obtained;

[0091] In step S141, the control parameters of the speed loop controller are calculated according to the actual speed;

[0092] In step S142, the speed difference between the given target speed and the actual speed is calculated;

[0093] In step S143, a proportional output item and an integral output item are calculated according to the speed difference and the control parameter;

[0094] In step S144, the required torque of the second motor is calculated according to the proportional output term and the integral output term according to formula (2):

[0095] τ 2 =P o +I o , (2)

[0096] Among them, τ 2 is the torque required by the second motor, P o is the proportional output term, I o is the integral output item;

[0097] In step S145 , the motor is controlled according to the second motor required torque.

[0098] On the other hand, the present invention also provides a control system for a motor speed loop, which control system may include a given speed filtering module, a speed feedforward controller, a parameter adaptive adjustment module, a speed regulator and a speed loop controller switching module, such as Figure 5 As shown, the speed feedforward controller is connected to the given speed filter module, the parameter adaptive adjustment module is connected to the speed sensor of the motor, the speed regulator is connected to the parameter adaptive adjustment module, and the speed loop controller switching module is connected to the speed feedforward controller and the speed regulator.

[0099] In this embodiment, the function of the given speed filter module can be various known to those skilled in the art. In a preferred example of the present invention, the given speed filter module can be used for:

[0100] Obtain target speed filter parameters and given target speed;

[0101] The speed loop feedforward control action time is calculated based on the target speed filter parameter;

[0102] The given target speed filtering value is obtained according to the given target speed and the speed loop feedforward control action time.

[0103] In this embodiment, the speed feedforward controller can be used in various ways known to those skilled in the art. In a preferred example of the present invention, the speed feedforward controller can be used to:

[0104] Get the moment of inertia of the motor;

[0105] Calculate the angular acceleration based on the given target speed filter value;

[0106] According to the moment of inertia and angular acceleration, the required torque of the first motor is calculated according to formula (1):

[0107] τ 1 =I*α, (1)

[0108] Among them, τ 1 is the required torque of the first motor, I is the moment of inertia, and α is the angular acceleration.

[0109] In this implementation, the function of the parameter adaptive adjustment module can be various functions known to those skilled in the art. In a preferred example of the present invention, the parameter adaptive adjustment module can be used for:

[0110] Get the actual speed of the motor output by the speed sensor;

[0111] Calculate the control parameters of the speed loop controller based on the actual speed.

[0112] In this embodiment, the speed regulator can be used in various ways known to those skilled in the art. In a preferred example of the present invention, the speed regulator can be used for:

[0113] Calculate the speed difference between the given target speed and the actual speed;

[0114] The proportional output item and the integral output item are calculated according to the speed difference and the control parameters;

[0115] According to the proportional output term and the integral output term, the required torque of the second motor is calculated according to formula (2):

[0116] τ 2 =P o +I o , (2)

[0117] Among them, τ2 is the torque required by the second motor, P o is the proportional output term, I o is the integral output item.

[0118] In this embodiment, the functions of the speed loop controller switching module can be various known to those skilled in the art. In a preferred example of the present invention, the speed loop controller switching module can be used for:

[0119] Obtain a given target speed and a given target speed filter value;

[0120] Calculating the difference between a given target speed and a given target speed filter value and determining whether the difference is greater than a preset difference threshold;

[0121] When it is determined that the difference is greater than the difference threshold, selecting the first motor demand torque to control the motor;

[0122] When it is determined that the difference is less than or equal to the difference threshold, the second motor demand torque is selected to control the motor.

[0123] Through the above technical scheme, the control method and control system of the motor speed loop provided by the present invention determine whether to adopt dynamic regulation or steady-state regulation according to the size of the difference between the given target speed and the given target speed filter value, and perform different algorithm control for dynamic regulation and steady-state regulation. Dynamic regulation uses a speed feedforward controller for rapid regulation, which can reduce overshoot, increase the motor regulation speed, and shorten the motor response time. Steady-state control uses a parameter adaptive regulation module and a speed regulator to obtain the actual speed of the motor for joint regulation, which can increase the robustness of the steady state and have a better overall regulation effect.

[0124] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0125] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0126] 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.

[0127] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0128] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0129] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0130] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0131] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0132] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling a motor speed loop, characterized in that: The control method comprises: Get the given target speed of the speed loop; Obtaining a given target speed filtering value according to the given target speed; Calculating a difference between the given target speed and a given target speed filter value and determining whether the difference is greater than a preset difference threshold; In the case where it is determined that the difference is greater than the difference threshold, dynamic control is adopted; When it is determined that the difference is less than or equal to the difference threshold, steady-state control is adopted.

2. The control method according to claim 1, characterized in that: Obtaining a given target speed filtering value according to the given target speed includes: Get the speed demand response time; Calculate the target speed filter parameter according to the demand response time; The speed loop feedforward control action time is calculated according to the target speed filter parameter; The given target speed filtering value is obtained according to the given target speed and the speed loop feedforward control action time.

3. The control method according to claim 1, characterized in that: Employ dynamic controls, including: Get the moment of inertia of the motor; Calculating angular acceleration according to the given target speed filtered value; According to the moment of inertia and angular acceleration, the required torque of the first motor is calculated according to formula (1): τ1=I*α, (1) Wherein, τ1 is the required torque of the first motor, I is the moment of inertia, and α is the angular acceleration; The motor is controlled according to the torque required by the first motor.

4. The control method according to claim 1, characterized in that: Use steady-state control, including: Get the actual speed of the motor; Calculating control parameters of a speed loop controller according to the actual speed; Calculating a speed difference between the given target speed and the actual speed; Calculate a proportional output item and an integral output item according to the speed difference and the control parameter; According to the proportional output term and the integral output term, the required torque of the second motor is calculated according to formula (2): τ3=P o +I o , (2) Wherein, τ2 is the required torque of the second motor, P o is the proportional output term, I o is the integral output item; The electric motor is controlled according to the torque required by the second electric motor.

5. A control system for a motor speed loop, characterized in that: The control system comprises: Given speed filter module; A speed feedforward controller connected to the given speed filter module; A parameter adaptive adjustment module connected to a speed sensor of the motor; A speed regulator, connected to the parameter adaptive adjustment module; The speed loop controller switching module is connected with the speed feedforward controller and the speed regulator.

6. The control system according to claim 5, characterized in that: The given speed filtering module is used for: Obtain target speed filter parameters and given target speed; The speed loop feedforward control action time is calculated according to the target speed filter parameter; The given target speed filtering value is obtained according to the given target speed and the speed loop feedforward control action time.

7. The control system according to claim 6, characterized in that: The speed feedforward controller is used to: Get the moment of inertia of the motor; Calculating angular acceleration according to the given target speed filtered value; According to the moment of inertia and angular acceleration, the required torque of the first motor is calculated according to formula (1): τ1=I*α, (1) Wherein, τ1 is the required torque of the first motor, I is the moment of inertia, and α is the angular acceleration.

8. The control system according to claim 7, characterized in that: The parameter adaptive adjustment module is used for: Get the actual speed of the motor output by the speed sensor; The control parameters of the speed loop controller are calculated according to the actual rotation speed.

9. The control system according to claim 8, characterized in that: The speed regulator is used to: Calculating a speed difference between the given target speed and the actual speed; Calculate a proportional output item and an integral output item according to the speed difference and the control parameter; According to the proportional output term and the integral output term, the required torque of the second motor is calculated according to formula (2): τ2=P o +I o , (2) Wherein, τ2 is the required torque of the second motor, P o is the proportional output term, I o is the integral output item.

10. The control system according to claim 9, characterized in that: The speed loop controller switching module is used for: Obtaining the given target speed and the given target speed filtering value; Calculating a difference between the given target speed and a given target speed filter value and determining whether the difference is greater than a preset difference threshold; In the case where it is determined that the difference is greater than the difference threshold, selecting the first motor demand torque control motor; When it is determined that the difference is less than or equal to the difference threshold, the second motor demand torque control motor is selected.

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