Motor dynamic adaptation control method and system based on load change

Abstract

The invention relates to the field of motor control, in particular to a motor dynamic adaptation control method and system based on load change. The method comprises the steps of collecting real-time state data of a motor and calculating load state data; dynamically optimizing seven-order S curve parameters according to the load state data, and generating a reference rotating speed track adaptive to the load and the environment; a voltage adjusting instruction is obtained through a rotating speed-current double-loop PID controller; and performing coordinate transformation on the voltage regulation instruction to generate a PWM driving signal, and controlling the operation of the motor. Meanwhile, the invention discloses a system for executing the method, and the stability of motor output is improved by adopting the motor dynamic adaptation control method and system based on the load change.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a method and system for dynamic adaptive control of motors based on load changes. Background Technology

[0002] In industrial production, transportation, new energy equipment, and smart homes, motors serve as core power actuators, and their performance directly determines the efficiency, reliability, and energy consumption of the entire system. As modern industry transforms towards intelligence, high efficiency, and energy conservation, and as various application scenarios continuously increase the demands on motor control precision, response speed, and adaptability, traditional motor control methods are gradually revealing their technical bottlenecks in adapting to complex dynamic loads. In industrial scenarios involving conveyor belt transport and lifting, motors, responsible for transporting materials and equipment, often exhibit nonlinear, time-varying, and abrupt load characteristics. Traditional fixed-parameter control cannot match load changes in real time, leading to poor motor operational stability, such as speed fluctuations and increased vibration and noise. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for dynamic adaptive control of motors based on load changes, thereby solving the aforementioned technical problems.

[0004] To achieve the above objectives, the present invention provides a dynamic adaptive control method for motors based on load changes, the specific steps of which are as follows: Step S1: Collect real-time motor status data and calculate load status data; Step S2: Dynamically optimize the parameters of the seventh-order S-curve based on the load status data to generate a reference speed trajectory that adapts to the load and environment; Step S3: Obtain the adjustment voltage command through the speed-current dual-loop PID controller; Step S4: Perform coordinate transformation on the voltage adjustment command to generate a PWM drive signal to control the motor operation.

[0005] Preferably, in step S1, the real-time status data of the motor includes the three-phase stator current, the actual rotor speed, the rotor position angle, the stator winding temperature, the vibration amplitude, and the real-time grid supply voltage. The load status data is the load torque, and the load torque after temperature and mechanical correction is calculated based on the real-time motor status data. The formula for calculating load torque is as follows: ; in, For the load torque after temperature and mechanical correction, The electromagnetic torque is calculated based on the three-phase stator current of the motor. The moment of inertia of the motor shaft. The viscous damping coefficient is... This is the mechanical angular velocity of the motor, which is calculated based on the motor rotor speed.

[0006] Preferred, , as well as These are the power grid correction factor, temperature correction factor, and vibration correction factor, respectively, and their calculation formulas are as follows: ; in, and These are the rated grid voltage and the real-time grid supply voltage, respectively. ; in, and These are the motor stator winding temperature and the set operating temperature, respectively. The temperature coefficient of stator resistance; ; in, This is the vibration loss proportionality coefficient. This represents the vibration amplitude.

[0007] Preferably, the seventh-order S-curve includes three acceleration phases, one constant velocity phase, and three deceleration phases; The three acceleration phases include the initial acceleration phase, the constant acceleration phase, and the final acceleration phase; The three deceleration phases include the initial deceleration phase, the constant deceleration phase, and the final deceleration phase; The accelerations of the initial acceleration phase, the final acceleration phase, the initial deceleration phase, and the final deceleration phase are all smoothly transformed using quadratic curves.

[0008] Preferably, the initial acceleration phase speed equation is as follows: ; in, For a moment Correction speed at that time , Acceleration under rated load For rated load, This is the stage proportion coefficient; The equation for the rotational speed during the constant acceleration phase is as follows: ; in, ; The speed equation for the final acceleration phase is as follows: ; in, For the maximum reference speed, ; The equation for the rotational speed during the constant speed segment is as follows: ; The speeds of the three deceleration phases and the three acceleration phases are set symmetrically. The formula for calculating the reference speed is as follows: ; in, For reference speed, This is the speed conversion coefficient, from which the reference speed trajectory is obtained.

[0009] Preferably, the speed-current dual-loop PID controller includes a speed control loop and a current control loop.

[0010] Preferably, the calculation formula for the speed control loop is as follows: ; in, This is the q-axis reference current. , as well as These are the first difference gain, the first integral gain, and the first derivative gain, respectively. This refers to the actual rotational speed of the motor rotor. This represents the change in load torque.

[0011] Preferably, the current control loop calculation formula is as follows: ; ; in, and These are the d-axis and q-axis voltage values ​​for adjusting the voltage command, respectively. and These are the second and third difference gains, respectively. and These are the second integral gain and the third integral gain, respectively. and These are the second and third differential gains, respectively. and These are the d-axis and q-axis current values ​​of the three-phase stator current of the motor, respectively. .

[0012] Preferably, step S4 is as follows: Step S41: Perform inverse Park transformation based on the d-axis voltage value of the voltage adjustment command, the q-axis voltage value of the voltage adjustment command, and the motor rotor position angle. The transformation formula is as follows: ; in, and They are respectively Voltage in a coordinate system This refers to the rotor position angle of the motor; Step S42: According to The voltage in the coordinate system undergoes a Clark transformation, and the transformation formula is as follows: ; in, , as well as These are the three-phase stator voltages; Step S43: Calculate the three-phase duty cycle of the PWM drive signal based on the three-phase stator voltage. The calculation formula is as follows: ; in, For the first phase duty cycle, , The inverter DC bus voltage is a fixed value.

[0013] A system for implementing the above-described motor dynamic adaptive control method based on load changes includes: The data acquisition module is used to collect real-time status data of the motor; The data processing and calculation module is used to process real-time motor status data and calculate load status data. The reference speed trajectory generation module is used to dynamically optimize the parameters of the seventh-order S-curve based on load status data, and generate a reference speed trajectory that adapts to the load and environment. A dual-loop PID controller for speed and current is used to output voltage adjustment commands based on real-time motor status data and reference speed trajectory. The data acquisition module, data processing and calculation module, reference speed trajectory generation module, and speed-current dual-loop PID controller are connected in sequence.

[0014] Therefore, the present invention adopts the above-mentioned motor dynamic adaptation control method and system based on load change, which has the following beneficial effects: dynamically optimizes the seventh-order S-curve parameters based on load change, generates a reference speed trajectory that adapts to the load and environment, obtains the adjustment voltage command through the speed-current dual-loop PID controller, performs coordinate transformation on the adjustment voltage command to generate a PWM drive signal, controls the motor operation, makes the motor operation more stable, and reduces motor fluctuations and noise.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1This is a flowchart of a motor dynamic adaptation control method based on load changes according to the present invention. Figure 2 This is a seventh-order S-curve diagram of the present invention; Figure 3 This is the output angular velocity curve of the motor. Detailed Implementation

[0017] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These terms are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0018] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0019] like Figure 1 As shown, a dynamic adaptive control method for motors based on load changes includes the following steps: Step S1: Collect real-time motor status data and calculate load status data.

[0020] The real-time status data of the motor includes the three-phase stator current, the actual rotor speed, the rotor position angle, the stator winding temperature, the vibration amplitude, and the real-time grid supply voltage. The load status data is the load torque, and the load torque after temperature and mechanical correction is calculated based on the real-time motor status data. The formula for calculating load torque is as follows: ; in, For the load torque after temperature and mechanical correction, The electromagnetic torque is calculated based on the three-phase stator current of the motor. The moment of inertia of the motor shaft. The viscous damping coefficient is... This is the mechanical angular velocity of the motor, which is calculated based on the motor rotor speed.

[0021] , as well as These are the power grid correction factor, temperature correction factor, and vibration correction factor, respectively, and their calculation formulas are as follows: ; in, and These are the rated grid voltage and the real-time grid supply voltage, respectively. ; in, and These are the motor stator winding temperature and the set operating temperature, respectively. The temperature coefficient of stator resistance; ; in, This is the vibration loss proportionality coefficient. This represents the vibration amplitude.

[0022] Step S2: Dynamically optimize the parameters of the seventh-order S-curve based on the load status data to generate a reference speed trajectory that adapts to the load and environment.

[0023] like Figure 2 As shown, the seventh-order S-curve includes three acceleration phases, one constant velocity phase, and three deceleration phases. The three acceleration phases include the initial acceleration phase, the constant acceleration phase, and the final acceleration phase; The three deceleration phases include the initial deceleration phase, the constant deceleration phase, and the final deceleration phase; The accelerations of the initial acceleration phase, the final acceleration phase, the initial deceleration phase, and the final deceleration phase are all smoothly transformed using quadratic curves.

[0024] The initial acceleration phase speed equation is as follows: ; in, For a moment Correction speed at that time , Acceleration under rated load For rated load, This is the stage proportion coefficient; The equation for the rotational speed during the constant acceleration phase is as follows: ; in, ; The speed equation for the final acceleration phase is as follows: ; in, For the maximum reference speed, ; The equation for the rotational speed during the constant speed segment is as follows: ; The speeds of the three deceleration phases and the three acceleration phases are set symmetrically. The formula for calculating the reference speed is as follows: ; in, For reference speed, This is the speed conversion coefficient, from which the reference speed trajectory is obtained.

[0025] Step S3: Obtain the adjustment voltage command through the speed-current dual-loop PID controller.

[0026] The speed-current dual-loop PID controller includes a speed control loop and a current control loop.

[0027] The calculation formula for the speed control loop is as follows: ; in, This is the q-axis reference current. , as well as These are the first difference gain, the first integral gain, and the first derivative gain, respectively. This refers to the actual rotational speed of the motor rotor. This represents the change in load torque.

[0028] The formula for calculating the current control loop is as follows: ; ; in, and These are the d-axis and q-axis voltage values ​​for adjusting the voltage command, respectively. and These are the second and third difference gains, respectively. and These are the second integral gain and the third integral gain, respectively. and These are the second and third differential gains, respectively. and These are the d-axis and q-axis current values ​​of the three-phase stator current of the motor, respectively. .

[0029] Step S4: Perform coordinate transformation on the voltage adjustment command to generate a PWM drive signal to control the motor operation.

[0030] The specific steps of step S4 are as follows: Step S41: Perform inverse Park transformation based on the d-axis voltage value of the voltage adjustment command, the q-axis voltage value of the voltage adjustment command, and the motor rotor position angle. The transformation formula is as follows: ; in, and They are respectively Voltage in a coordinate system This refers to the rotor position angle of the motor; Step S42: According to The voltage in the coordinate system undergoes a Clark transformation, and the transformation formula is as follows: ; in, , as well as These are the three-phase stator voltages; Step S43: Calculate the three-phase duty cycle of the PWM drive signal based on the three-phase stator voltage. The calculation formula is as follows: ; in, For the first phase duty cycle, , The inverter DC bus voltage is a fixed value.

[0031] A system for implementing the above-described motor dynamic adaptive control method based on load changes includes: The data acquisition module is used to collect real-time status data of the motor.

[0032] The data processing and calculation module is used to process real-time motor status data and calculate load status data.

[0033] The reference speed trajectory generation module is used to dynamically optimize the parameters of the seventh-order S-curve based on load status data, and generate a reference speed trajectory that adapts to the load and environment.

[0034] The speed-current dual-loop PID controller is used to output voltage adjustment commands based on the real-time status data of the motor and the reference speed trajectory.

[0035] The data acquisition module, data processing and calculation module, reference speed trajectory generation module, and speed-current dual-loop PID controller are connected in sequence.

[0036] To verify the effectiveness of the technical solution in this embodiment, MATLAB was used for simulation. The angular velocity curve of the motor is shown below. Figure 3As shown, the smooth and continuous S-shaped angular velocity curve visually verifies its consistency with the theory of higher-order S-curves. The absence of sharp corners during the transitions between acceleration, constant velocity, and deceleration phases demonstrates that the acceleration changes smoothly without abrupt changes. Therefore, the jerk, crucial for motion smoothness, is controlled within a limited range. By eliminating abrupt force changes, sudden jumps or abrupt movements are suppressed, effectively preventing severe motor jerking at its source, thus ensuring the stability and safety of long-distance lifting or conveying operations. The impact of stress on the mechanical structure and electrical system is significantly reduced, energy consumption is optimized by avoiding power peaks, and the equipment's service life is extended.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for dynamic adaptive control of a motor based on load changes, characterized in that, The specific steps are as follows: Step S1: Collect real-time motor status data and calculate load status data; Step S2: Dynamically optimize the parameters of the seventh-order S-curve based on the load status data to generate a reference speed trajectory that adapts to the load and environment; Step S3: Obtain the adjustment voltage command through the speed-current dual-loop PID controller; Step S4: Perform coordinate transformation on the voltage adjustment command to generate a PWM drive signal to control the motor operation.

2. The method for dynamic adaptive control of a motor based on load changes according to claim 1, characterized in that: In step S1, the real-time status data of the motor includes the three-phase stator current, the actual rotor speed, the rotor position angle, the stator winding temperature, the vibration amplitude, and the real-time grid supply voltage. The load status data is the load torque, and the load torque after temperature and mechanical correction is calculated based on the real-time motor status data. The formula for calculating load torque is as follows: ； in, For the load torque after temperature and mechanical correction, The electromagnetic torque is calculated based on the three-phase stator current of the motor. The moment of inertia of the motor shaft. The viscous damping coefficient is... This is the mechanical angular velocity of the motor, which is calculated based on the motor rotor speed.

3. The method for dynamic adaptive control of a motor based on load changes according to claim 2, characterized in that: , as well as These are the power grid correction factor, temperature correction factor, and vibration correction factor, respectively, and their calculation formulas are as follows: ; in, and These are the rated grid voltage and the real-time grid supply voltage, respectively. ； in, and These are the motor stator winding temperature and the set operating temperature, respectively. The temperature coefficient of stator resistance; ； in, This is the vibration loss proportionality coefficient. This represents the vibration amplitude.

4. The motor dynamic adaptation control method based on load variation according to claim 3, characterized in that: The seventh-order S-curve includes three acceleration phases, one constant velocity phase, and three deceleration phases. The three acceleration phases include the initial acceleration phase, the constant acceleration phase, and the final acceleration phase; The three deceleration phases include the initial deceleration phase, the constant deceleration phase, and the final deceleration phase; The accelerations of the initial acceleration phase, the final acceleration phase, the initial deceleration phase, and the final deceleration phase are all smoothly transformed using quadratic curves.

5. The motor dynamic adaptation control method based on load change according to claim 4, characterized in that: The initial acceleration phase speed equation is as follows: ； in, For a moment Correction speed at that time , Acceleration under rated load For rated load, This is the stage proportion coefficient; The equation for the rotational speed during the constant acceleration phase is as follows: ； in, ; The speed equation for the final acceleration phase is as follows: ； in, For the maximum reference speed, ; The equation for the rotational speed during the constant speed segment is as follows: ； The speeds of the three deceleration phases and the three acceleration phases are set symmetrically. The formula for calculating the reference speed is as follows: ； in, For reference speed, This is the speed conversion coefficient, from which the reference speed trajectory is obtained.

6. The method for dynamic adaptive control of a motor based on load variation according to claim 5, characterized in that: The speed-current dual-loop PID controller includes a speed control loop and a current control loop.

7. The method for dynamic adaptive control of a motor based on load changes according to claim 6, characterized in that: The calculation formula for the speed control loop is as follows: ； in, This is the q-axis reference current. , as well as These are the first difference gain, the first integral gain, and the first derivative gain, respectively. This refers to the actual rotational speed of the motor rotor. This represents the change in load torque.

8. The method for dynamic adaptive control of a motor based on load variation according to claim 7, characterized in that: The formula for calculating the current control loop is as follows: ； ； in, and These are the d-axis and q-axis voltage values ​​for adjusting the voltage command, respectively. and These are the second and third difference gains, respectively. and These are the second integral gain and the third integral gain, respectively. and These are the second and third differential gains, respectively. and These are the d-axis and q-axis current values ​​of the three-phase stator current of the motor, respectively. .

9. The method for dynamic adaptive control of a motor based on load variation according to claim 8, characterized in that: The specific steps of step S4 are as follows: Step S41: Perform inverse Park transformation based on the d-axis voltage value of the voltage adjustment command, the q-axis voltage value of the voltage adjustment command, and the motor rotor position angle. The transformation formula is as follows: ； in, and They are respectively Voltage in a coordinate system This refers to the rotor position angle of the motor; Step S42: According to The voltage in the coordinate system undergoes a Clark transformation, and the transformation formula is as follows: ； in, , as well as These are the three-phase stator voltages; Step S43: Calculate the three-phase duty cycle of the PWM drive signal based on the three-phase stator voltage. The calculation formula is as follows: ； in, For the first phase duty cycle, , The inverter DC bus voltage is a fixed value.

10. A system for implementing the motor dynamic adaptation control method based on load variation as described in claim 9, characterized in that: include: The data acquisition module is used to collect real-time status data of the motor; The data processing and calculation module is used to process real-time motor status data and calculate load status data. The reference speed trajectory generation module is used to dynamically optimize the parameters of the seventh-order S-curve based on load status data, and generate a reference speed trajectory that adapts to the load and environment. A speed-current dual-loop PID controller is used to output voltage adjustment commands based on real-time motor status data and reference speed trajectory. The data acquisition module, data processing and calculation module, reference speed trajectory generation module, and speed-current dual-loop PID controller are connected in sequence.

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