Speed loop control system controller parameter setting method, speed loop control system controller parameter control method, medium and device

Abstract

The invention provides a speed loop control system controller parameter setting method, a speed loop control system controller parameter setting control method, a medium and equipment, and relates to the technical field of controller parameter setting. Determining control parameters of a PI controller according to the requirement that the speed loop control system meets the set initial amplitude crossing frequency and the first phase margin; determining control parameters of a lagging link according to the requirement that the speed loop control system meets the set low-frequency amplitude; and according to the requirement that the speed loop control system meets the set amplitude crossing frequency and the second phase margin, the control parameters of the lead link are determined. According to the method, the frequency domain equations of the control parameters can be established step by step according to the frequency domain characteristics of the control link, then the analytic expressions of all the control parameters are obtained, the requirements of the system for low-frequency gain, amplitude crossing frequency and phase margin are met, and the method has the advantages of being small in calculation amount, high in parameter adjusting speed and convenient to apply practically.

Description

Technical Field

[0001] The present invention relates to the technical field of controller parameter tuning, and particularly relates to a method for tuning controller parameters, a control method for a speed loop control system, a medium and a device. Background Art

[0002] Currently, the PI controller is widely used in speed loop control systems. It has two control parameters and has advantages such as simple structure and easy implementation. However, it has problems such as poor disturbance rejection performance and slow response speed, and cannot meet the index requirements of high-performance motion control systems. In view of this situation, on the basis of the PI controller, the present invention introduces a lag link to increase the low-frequency gain of the system open-loop transfer function and improve the disturbance rejection performance, and introduces a lead link to increase the system phase and amplitude crossover frequencies and improve the response characteristics of the system. However, the system contains a total of five control parameters, and the parameter tuning is difficult.

[0003] The frequency domain design method is a commonly used parameter tuning method for controllers. It establishes a system of equations about control parameters by specifying constraint conditions such as the amplitude crossover frequency, phase margin, and amplitude margin. The existing frequency domain method establishes an analytical expression of PI control parameters by specifying the amplitude crossover frequency and phase margin of the system. However, for a PI + lag + lead link controller, there are a total of five parameters, and the system of equations is too complex to directly establish an analytical expression of control parameters. If the method of iteratively optimizing and solving the numerical solution of the system of equations is used, a large amount of numerical calculations are required, and it is difficult to ensure that the obtained numerical solution is globally optimal, which is not conducive to the practical application of this method. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for tuning controller parameters, a control method for a speed loop control system, a medium and a device. According to the frequency domain characteristics of the control link, by stepwise establishing the frequency domain equations of control parameters, analytical expressions of all control parameters can be obtained to meet the requirements of system low-frequency gain, amplitude crossover frequency, and phase margin, and it has the advantages of small calculation amount, fast parameter tuning speed, and convenient practical application. The specific technical solutions are as follows:

[0005] A method for tuning the parameters of a controller of a speed loop control system, the controller being a PI controller with a lag link and a lead link introduced in sequence, characterized in that the method includes the following steps:

[0006] S100. Obtain the amplitude and phase frequency characteristics of the controlled object;

[0007] S200. Determine the control parameters of the PI controller according to the requirement that the speed loop control system meets the set initial amplitude crossover frequency and the first phase margin;

[0008] S300. Determine the control parameters of the lag link according to the requirement that the speed loop control system meets the set low-frequency amplitude.

[0009] S400. Determine the control parameters of the lead link according to the requirement that the speed loop control system meets the set amplitude crossover frequency and the second phase margin.

[0010] Further, the expression of the PI controller is as follows:

[0011]

[0012] Among them, G PI (s) is the transfer function of the PI controller, s is the Laplace operator, k p is the control gain, f i is the integral frequency; the amplitude and phase frequency characteristic expressions of the PI controller are:

[0013]

[0014] Among them, A(G PI ) is the amplitude of the PI controller, ω is the frequency, is the phase of the PI controller.

[0015] The expression of the lag link is as follows:

[0016]

[0017] Among them, G lag (s) is the transfer function of the lag link, f c-lag is the corner frequency of the lag link; the amplitude and phase frequency characteristic expressions of the lag link are:

[0018]

[0019] Among them, A(G lag ) is the amplitude of the lag link, is the phase of the lag link.

[0020] The expression of the lead link is as follows:

[0021]

[0022] Among them, G lead (s) is the transfer function of the lead link, f c-lead is the corner frequency of the lead link, a lead is the corner frequency ratio of the lead link, and it needs to satisfy a lead > 1; the amplitude and phase frequency characteristic expressions of the lead link are:

[0023]

[0024] Among them, A(G lead ) is the amplitude of the lead link, and

[0025]

[0026] G o1 (s) is the open-loop transfer function of the speed loop control system, and P(s) is the transfer function of the controlled object; PI (s)·P(s) (7)

[0027] G o1 (s) is the open-loop transfer function of the speed loop control system, and P(s) is the transfer function of the controlled object;

[0028] Set the open-loop transfer function of the speed loop control system to satisfy the initial amplitude crossover frequency of ω c1 and the first phase margin of θ 1 ;

[0029] According to the fact that the amplitude of the speed loop control system at the initial amplitude crossover frequency is 1, it can be obtained that:

[0030]

[0031] Among them, is the amplitude of the open-loop transfer function G o1 (s) at the frequency ω c1 , and A(P(ω c1 )) is the amplitude of the transfer function P(s) of the controlled object at the frequency ω c1 ;

[0032] According to the fact that the phase of the speed loop control system at the initial amplitude crossover frequency is θ 1 -π, it can be obtained that:

[0033]

[0034] Among them, is the phase of the open-loop transfer function G o1 (s) at the frequency ω c1 , is the phase of the transfer function P(s) of the controlled object at the frequency ω c1 ;

[0035] According to the two equations (8) and (9), the control parameters of the PI controller can be calculated:

[0036] ​

[0037] Further, step S300 includes the following steps: combining the tuned PI controller with the original control object to obtain a first new control object:

[0038] P 1 (s) = G PI (s)·P(s) (11)

[0039] where P 1 (s) is the transfer function of the first new control object;

[0040] Then introduce a lag link, and the first new open-loop transfer function of the speed loop control system is:

[0041] G o2 (s) = G lag (s)·P 1 (s) (12)

[0042] where G o2 (s) is the first new open-loop transfer function of the speed loop control system;

[0043] Set the amplitude of the speed loop control system at the low-frequency frequency ω 0 to be h 0 , and obtain:

[0044]

[0045] where is the amplitude of the first new open-loop transfer function G o2 (s) at the frequency ω 0 , A(P 1 (ω 0 )) is the amplitude of the first new control object P 1 (s) at the frequency ω 0 ;

[0046] According to equation (13), the control parameters of the lag link can be calculated:

[0047]

[0048] Further, step S400 includes the following steps: combining the tuned lag link with the first new control object P 1 (s) to obtain a second new control object:

[0049] P 2 (s) = G lag (s)·P 1 (s) (15)

[0050] where P 2(s) is the transfer function of the second new controlled object;

[0051] Introduce a lead link again, and the second new open-loop transfer function of the speed loop control system is:

[0052] G o3 (s) = G lead (s) · P 2 (s) (16)

[0053] where G o3 (s) is the second new open-loop transfer function of the speed loop control system;

[0054] Set the amplitude crossover frequency of the speed loop control system to ω c2 and the second phase margin to θ 2 ;

[0055] According to the amplitude of the speed loop control system being 1 at the amplitude crossover frequency, we can obtain:

[0056]

[0057] where is the amplitude of the open-loop transfer function G o3 (s) at the frequency ω c2 (ω 2 (ω c2 )) is the amplitude of the transfer function P 2 (s) of the second new controlled object at the frequency ω c2 ; The calculation gives:

[0058]

[0059] According to the phase of the speed loop control system being θ 2 -π at the amplitude crossover frequency, we can obtain:

[0060]

[0061] where is the phase of the open-loop transfer function G o3 (s) at the frequency ω c2 , is the amplitude of the transfer function P 2 (s) of the second new controlled object at the frequency ω c2 ; The calculation gives:

[0062]

[0063] According to the two equations (18) and (20), we can obtain:

[0064]

[0065] According to the solutions of the quartic equation in formula (21), the control parameters f c-lead and a lead .

[0066] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the controller parameter tuning method of the speed loop control system described above are implemented.

[0067] The present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the controller parameter tuning method of the speed loop control system described above are implemented.

[0068] The present invention also provides a control method for a speed loop control system. The method includes the following steps:

[0069] S1000. Obtain a controller after parameter tuning according to the controller parameter tuning method of the speed loop control system described above;

[0070] S2000. Use the controller after parameter tuning to control a controlled object

[0071] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the speed loop control system described above are implemented.

[0072] The present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the control method of the speed loop control system described above are implemented.

[0073] The controller parameter tuning, control method, medium, and device of the speed loop control system provided by the present invention have the following beneficial effects:

[0074] The method for tuning the controller parameters of the speed loop control system provided by the present invention obtains the amplitude and phase-frequency characteristics of the controlled object; determines the control parameters of the PI controller according to the requirement that the speed loop control system meets the set initial amplitude crossover frequency and the first phase margin; determines the control parameters of the lag link according to the requirement that the speed loop control system meets the set low-frequency amplitude; determines the control parameters of the lead link according to the requirement that the speed loop control system meets the set amplitude crossover frequency and the second phase margin; it can establish the frequency-domain equations of the control parameters step by step according to the frequency-domain characteristics of the control links, and then obtain the analytical expressions of all control parameters to meet the system's low-frequency gain, amplitude crossover frequency and phase margin requirements, with the advantages of small calculation amount, fast tuning speed and convenient practical application. Description of the Drawings

[0075] Figure 1 is a schematic flow chart of a method for tuning the controller parameters of a speed loop control system provided by the present invention;

[0076] Figure 2 is the Bode diagram of the controlled object of the verification example of the present invention;

[0077] Figure 3 is the Bode diagram of the open-loop transfer function of the speed loop control system of the verification example of the present invention;

[0078] Figure 4 is the structural block diagram of the computer device of the embodiment of the present invention;

[0079] Figure 5 is a schematic flow chart of a control method for a speed loop control system provided by the present invention. Detailed Embodiments

[0080] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings provided by the present invention. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are all in very simplified forms and use non-precise scales, only for the purpose of facilitating and clearly assisting in explaining the purposes of the embodiments of the present invention.

[0081] Embodiment 1

[0082] This embodiment provides a method for tuning the controller parameters of a speed loop control system. The controller is a PI controller with a lag link and a lead link introduced in sequence. Specifically, the expression of the PI controller is as follows:

[0083]

[0084] Among them, G PI (s) is the transfer function of the PI controller, S is the Laplace operator, k pis the control gain, f i is the integral frequency; the amplitude and phase-frequency characteristic expressions of the PI controller are:

[0085]

[0086] where, A(G PI ) is the amplitude of the PI controller, ω is the frequency, is the phase of the PI controller.

[0087] The expression of the lag link is as follows:

[0088]

[0089] where, G lag (s) is the transfer function of the lag link, f c-lag is the corner frequency of the lag link; the amplitude and phase-frequency characteristic expressions of the lag link are:

[0090]

[0091] where, A(G lag ) is the amplitude of the lag link, is the phase of the lag link.

[0092] The expression of the lead link is as follows:

[0093]

[0094] where, G lead (s) is the transfer function of the lead link, f c-lead is the corner frequency of the lead link, a lead is the corner frequency ratio of the lead link, and it needs to satisfy a lead > 1; the amplitude and phase-frequency characteristic expressions of the lead link are:

[0095]

[0096] where, A(G lead ) is the amplitude of the lead link, is the phase of the lead link.

[0097] Refer to Figure 1 as shown, the method includes the following steps:

[0098] S100. Obtain the amplitude and phase-frequency characteristics of the controlled object.

[0099] In one embodiment, the frequency-domain data of the controlled object is obtained by frequency sweeping, the amplitude is A(P(ω)), and the phase is

[0100] S200. Determine the control parameters of the PI controller according to the requirements that the speed loop control system meets the set initial amplitude crossover frequency and the first phase margin.

[0101] In one embodiment, step S200 includes the following steps: After introducing the PI controller based on the frequency domain data of the controlled object, the open-loop transfer function of the speed loop control system is:

[0102] G o1 (s) = G PI (s)·P(s) (7)

[0103] Wherein, G o1 (s) is the open-loop transfer function of the speed loop control system, and P(s) is the transfer function of the controlled object;

[0104] Set the open-loop transfer function of the speed loop control system to satisfy the initial amplitude crossover frequency of ω c1 and the first phase margin of θ 1 ;

[0105] According to the amplitude of the speed loop control system being 1 at the initial amplitude crossover frequency, the following can be obtained:

[0106]

[0107] Wherein, is the amplitude of the open-loop transfer function G o1 (s) at the frequency ω c1 , and A(P(ω c1 )) is the amplitude of the transfer function P(s) of the controlled object at the frequency ω c1 ;

[0108] According to the phase of the speed loop control system being θ 1 -π at the initial amplitude crossover frequency, the following can be obtained:

[0109]

[0110] Wherein, is the phase of the open-loop transfer function G o1 (s) at the frequency ω c1 , is the phase of the transfer function P(s) of the controlled object at the frequency ω c1 ;

[0111] According to the two equations (8) and (9), the control parameters of the PI controller can be calculated:

[0112]

[0113] Thus, the control parameters of the PI controller are obtained by using the given amplitude crossover frequency and phase margin requirements.

[0114] S300. Determine the control parameters of the lag link according to the requirement that the speed loop control system meets the set low-frequency amplitude.

[0115] In one embodiment, step S300 includes the following steps: Combine the tuned PI controller with the original controlled object to obtain a first new controlled object:

[0116] P 1 (s) = G PI (s) · P(s) (11)

[0117] where P 1 (s) is the transfer function of the first new controlled object;

[0118] Then introduce the lag link, and the first new open-loop transfer function of the speed loop control system is:

[0119] G o2 (s) = G lag (s) · P 1 (s) (12)

[0120] where G o2 (s) is the first new open-loop transfer function of the speed loop control system;

[0121] Set the amplitude of the speed loop control system at the low-frequency ω 0 to be h 0 , and obtain:

[0122]

[0123] where is the amplitude of the first new open-loop transfer function G o2 (s) of the speed loop control system at the frequency ω 0 , and A(P 1 (ω 0 )) is the amplitude of the first new controlled object P 1 (s) at the frequency ω 0 ;

[0124] According to equation (13), the control parameters of the lag link can be calculated:

[0125]

[0126] Thus, according to the low-frequency amplitude requirement, the control parameters of the lag link can be calculated.

[0127] S400. Determine the control parameters of the lead link according to the requirements that the speed loop control system meets the set amplitude crossover frequency and the second phase margin.

[0128] In one embodiment, step S400 includes the following steps: Combine the tuned lag link with the first new controlled object P 1 (s) to obtain a second new controlled object:

[0129] P 2 (s) = G lag (s) · P 1 (s) (15)

[0130] where P 2 (s) is the transfer function of the second new controlled object;

[0131] Then introduce the lead link, and the second new open-loop transfer function of the speed loop control system is:

[0132] G o3 (s) = G lead (s) · P 2 (s) (16)

[0133] where G o3 (s) is the second new open-loop transfer function of the speed loop control system;

[0134] Set the amplitude crossover frequency of the speed loop control system to ω c2 and the second phase margin to θ 2 ;

[0135] According to the fact that the amplitude of the speed loop control system is 1 at the amplitude crossover frequency, we can obtain:

[0136]

[0137] where is the amplitude of the open-loop transfer function G o3 (s) at the frequency ω c2 , A(P 2 (ω c2 )) is the amplitude of the transfer function P 2 (s) of the second new controlled object at the frequency ω c2 ; Calculate to obtain:

[0138]

[0139] According to the fact that the phase of the speed loop control system is θ 2 -π at the amplitude crossover frequency, we can obtain:

[0140]

[0141] Among them, is the phase of the open-loop transfer function G o3 (s) at the frequency ω c2 . is the transfer function P of the second new controlled object 2 (s) at the frequency ω c2 . It is calculated that:

[0142]

[0143] According to the two equations (18) and (20), it can be obtained that:

[0144]

[0145] The root formula for the quartic equation in formula (21) is:

[0146]

[0147] Among them, Δ 1 = K 2 2 - 3K 3 K 1 + 12K 4 K 0 , Δ 2 = 2K 2 3 - 9K 3 K 2 K 1 + 27K 4 K 1 2 + 27K 3 2K 0 - 72K 4 K 2 K 0 ;

[0148] According to the solution of the quartic equation in formula (21), the control parameters f c-lead and a lead of the lead link can be obtained.

[0149] f c-lead is the solution of this quartic equation, which has an analytical expression and needs to be greater than zero and real. Then, a lead is calculated using equation (20). It is necessary to ensure that a lead is positive. At the same time, check whether the speed loop control system has an appropriate amplitude margin. If not, the amplitude crossover frequency can be modified to ω c2 and the second phase margin to θ 2, and then perform the calculation. In this way, the control parameters f of the lead link are obtained. c-lead and a lead analytical expressions.

[0150] So far, all the control parameters of the speed loop control system controller have been calculated and set, enabling the speed loop control system to meet the specified amplitude crossover frequency, phase margin, and low-frequency gain requirements.

[0151] The method for setting the parameters of the speed loop control system controller provided by the present invention obtains the amplitude and phase frequency characteristics of the controlled object; determines the control parameters of the PI controller according to the requirement that the speed loop control system meets the set initial amplitude crossover frequency and the first phase margin; determines the control parameters of the lag link according to the requirement that the speed loop control system meets the set low-frequency amplitude; determines the control parameters of the lead link according to the requirement that the speed loop control system meets the set amplitude crossover frequency and the second phase margin; can establish the frequency-domain equations of the control parameters step by step according to the frequency-domain characteristics of the control link, and then obtain the analytical expressions of all the control parameters to meet the system low-frequency gain, amplitude crossover frequency, and phase margin requirements, with the advantages of small calculation amount, fast parameter adjustment speed, and convenient practical application.

[0152] Verification example

[0153] Suppose the frequency-domain data of the controlled object is known, the amplitude is A(P(w)), and the phase is Its Bode plot is as shown in Figure 2 , and next, the parameters of the PI controller, lag link, and lead link are set.

[0154] According to Figure 1 the parameter setting process, assume that the system meets the amplitude crossover frequency of ω c1 =2π·30 rad / s and the phase margin of θ 1 =10°. According to Equation (10), k p =61.64 and f i =36.58 Hz can be calculated. Then, the lag link is introduced. Assume that the system meets the requirement that the amplitude is h 0 =50 dB at the low-frequency ω 0 =2π·3 rad / s frequency. According to Equation (14), f c-lag =10.42 Hz can be calculated. Finally, the lead link is introduced. Assume that the system meets the amplitude crossover frequency of ω c2 =2π·35 rad / s and the phase margin of θ 2 =30°. According to Equation (21) and the root formula (22) of the quartic equation, taking its positive real root, f c-lead =46.28 Hz can be obtained, and then a lead= 64.75, all control parameters have been tuned.

[0155] The Bode plot of the open-loop transfer function of the speed loop control is plotted as Figure 3 shown. It can be seen that the amplitude crossover frequency of the speed loop control is 35 Hz, the phase margin is 30°, the gain at 3 Hz in the low frequency is 50.02 dB, which meets the frequency domain characteristic requirements during the parameter tuning process. At the same time, the amplitude margin of the speed loop control is 6.41 dB, which meets the system stability requirements.

[0156] Embodiment 2

[0157] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for tuning the controller parameters of the speed loop control system described above are implemented.

[0158] Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0159] Embodiment 3

[0160] This embodiment provides a computer device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method for tuning the controller parameters of the speed loop control system described above are implemented.

[0161] As Figure 4As shown, the computer device may include: at least one processor 71, such as a CPU (Central Processing Unit), at least one communication interface 73, a memory 74, and at least one communication bus 72. Among them, the communication bus 72 is used to realize the connection and communication between these components. Among them, the communication interface 73 may include a display screen and a keyboard. Optionally, the communication interface 73 may also include a standard wired interface and a wireless interface. The memory 74 may be a high-speed RAM memory (Random Access Memory, volatile random access memory), or a non-volatile memory, such as at least one disk memory. Optionally, the memory 74 may also be at least one storage device located far from the aforementioned processor 71. Among them, an application program is stored in the memory 74, and the processor 71 calls the program code stored in the memory 74 to execute any of the above method steps.

[0162] Among them, the communication bus 72 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus 72 can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 4 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0163] Among them, the memory 74 may include a volatile memory, such as a random-access memory (RAM); the memory may also include a non-volatile memory, such as a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the memory 74 may also include a combination of the above types of memories.

[0164] Among them, the processor 71 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP.

[0165] Among them, the processor 71 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0166] Optionally, the memory 74 is further configured to store program instructions. The processor 71 may call the program instructions to implement the method for tuning the controller parameters of the speed loop control system according to the present invention.

[0167] Embodiment 4

[0168] This embodiment provides a control method for a speed loop control system. Refer to Figure 5 As shown, the method includes the following steps:

[0169] S1000. Obtain a controller with tuned parameters according to the method for tuning the controller parameters of the speed loop control system in the foregoing Embodiment 1.

[0170] S2000. Use the controller with tuned parameters to control the controlled object.

[0171] The control method for the speed loop control system provided by the present invention can establish the frequency-domain equation of the control parameters step by step according to the frequency-domain characteristics of the control link, and then obtain the analytical expressions of all control parameters to meet the requirements of the system's low-frequency gain, amplitude crossover frequency, and phase margin. The calculation amount of the speed loop control system is small, the parameter tuning speed is fast, and it is convenient for practical applications.

[0172] Embodiment 5

[0173] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method for the speed loop control system described above are implemented.

[0174] Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0175] Embodiment 6

[0176] This embodiment provides a computer device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of the speed loop control system control method described above.

[0177] Those skilled in the art of this technology should understand that the present invention can be implemented in many other specific forms without departing from the spirit and scope of the present invention. Based on the embodiments of the present invention, any changes and modifications made by those of ordinary skill in the art of the present invention according to the above disclosure are within the protection scope of the claims.

Claims

1. A method for setting controller parameters of a speed loop control system, wherein the controller sequentially introduces a lag link and a lead link based on a PI controller, and is characterized in that: The method comprises the following steps: S100, obtaining the amplitude and phase frequency characteristics of the controlled object; S200, determining control parameters of the PI controller according to the requirements that the speed loop control system meets the set initial amplitude crossing frequency and the first phase margin; S300, determining control parameters of the lag link according to the requirement that the speed loop control system meets the set low-frequency amplitude; S400, determining control parameters of the leading link according to the requirements that the speed loop control system meets the set amplitude crossing frequency and the second phase margin.

2. The method for setting parameters of a speed loop control system controller according to claim 1, characterized in that: The expression of PI controller is as follows: Among them, G PI (s) is the transfer function of the PI controller, s is the Laplace operator, k p is the control gain, f i is the integral frequency; the amplitude and phase frequency characteristic expressions of the PI controller are: Among them, A(G PI ) is the amplitude of the PI controller, ω is the frequency, is the phase of the PI controller. The expression of the lag phase is as follows: Among them, G lag (s) is the transfer function of the lag link, f c-lag is the turning frequency of the lag link; the amplitude and phase frequency characteristic expressions of the lag link are: Among them, A(G lag ) is the amplitude of the lag link, is the phase of the lag link. The expression of the advance phase is as follows: Among them, G lead (s) is the transfer function of the leading link, f c-lead is the turning frequency of the leading link, a lead is the transition frequency ratio of the leading link, and needs to satisfy a lead >1; the amplitude and phase frequency characteristics of the leading link are expressed as: Among them, A(G lead ) is the amplitude of the lead link, It is the phase of the leading link.

3. The method for setting controller parameters of a speed loop control system according to claim 2, characterized in that: Step S200 includes the following steps: After the PI controller is introduced based on the frequency domain data of the control object, the open-loop transfer function of the speed loop control system is: G o1 (s)=G PI (s)·P(s) (7) Among them, G o1 (s) is the open-loop transfer function of the speed loop control system, and P(s) is the transfer function of the controlled object; The open-loop transfer function of the speed control system is set to satisfy the initial amplitude crossing frequency ω c1 and the first phase margin is θ1; According to the speed loop control system, the amplitude is 1 at the initial amplitude crossing frequency, we can get: in, is the open loop transfer function G o1 (s) at frequency ω c1 The amplitude at c1 )) is the transfer function P(s) of the controlled object at frequency ω c1 The amplitude at ; According to the phase of the speed loop control system at the initial amplitude crossing frequency is θ1-π, we can get: in, is the open loop transfer function G o1 (s) at frequency ω c1 The phase at is the transfer function P(s) of the controlled object at frequency ω c1 The phase at According to the two equations (8) and (9), the control parameters of the PI controller can be calculated:

4. The method for setting parameters of a speed loop control system controller according to claim 3, characterized in that: Step S300 includes the following steps: combining the tuned PI controller with the original control object to obtain a first new control object: P1(s)=G PI (S)·P(s) (11) Wherein, P1(s) is the transfer function of the first new controlled object; Then introduce the lag link, the first new open-loop transfer function of the speed loop control system is: G o2 (s)=G lag (s)·P1(s) (12) Among them, G o2 (s) is the first new open-loop transfer function of the speed loop control system; Set the amplitude of the speed loop control system to h0 at the low frequency ω0, and get: in, It is the first new open-loop transfer function G of the speed loop control system o2 (s) is the amplitude at the frequency ω0, A(P1(ω0)) is the amplitude of the first new controlled object P1(s) at the frequency ω0; According to equation (13), the control parameters of the lag link can be calculated:

5. The method for setting controller parameters of a speed loop control system according to claim 4, characterized in that: Step S400 includes the following steps: combining the hysteresis link obtained by adjustment with the first new control object P1(s) to obtain a second new control object: P2(s)=G lag (s)·P1(s) (15) Wherein, P2(s) is the transfer function of the second new controlled object; Then introduce the advance link, the second new open-loop transfer function of the speed loop control system is: G o3 (s)=G lead (s)·P2(s) (16) Among them, G o3 (s) is the second new open-loop transfer function of the speed loop control system; Set the amplitude crossing frequency of the speed loop control system to ω c2 and the second phase margin is θ2; According to the speed loop control system, the amplitude is 1 at the amplitude crossing frequency, we can get: in, is the open loop transfer function G o3 (s) at frequency ω c2 The amplitude at A(P2(ω c2 )) is the transfer function P2(s) of the second new controlled object at frequency ω c2 The amplitude at ; calculated: According to the phase of the speed loop control system at the amplitude crossing frequency is θ2-π, we can get: in, is the open loop transfer function G o3 (s) at frequency ω c2 The phase at is the transfer function P2(s) of the second new controlled object at frequency ω c2 The amplitude at ; calculated: According to the two equations (18) and (20), we can obtain: According to the solution of the quartic equation in formula (21), the control parameter f of the leading link can be obtained: c-lead and a lead .

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for adjusting controller parameters of a speed loop control system as described in any one of claims 1 to 5 are implemented.

7. A computer device 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 program, the steps of the speed loop control system controller parameter tuning method as described in any one of claims 1-5 are implemented.

8. A speed loop control system control method, characterized in that: The method comprises the following steps: S1000, obtaining a controller after parameter tuning according to the speed loop control system controller parameter tuning method according to any one of claims 1 to 5; S2000: Use the controller after parameter adjustment to control the control object.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the speed loop control system control method according to claim 8 are implemented.

10. A computer device 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 program, the steps of the speed loop control system control method according to claim 8 are implemented.

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