交流伺服系统控制参数自整定策略研究
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摘要
交流伺服系统的性能与其控制参数密切相关,为了获得满意的伺服性能,必须对设置的控制参数进行整定。自整定不仅是完成伺服系统控制参数整定过程的高效途径,使其在运行前能快速得到满足要求的控制参数,而且使其能在运行过程中根据被控对象特征的变化对控制参数进行在线校正,使伺服系统的性能始终保持最优。进行交流伺服系统控制参数自整定策略研究,是提高伺服系统运行效率和性能的迫切需要,具有重要意义。
本文以获取交流伺服系统控制参数自整定策略为目标,结合国家科技重大专项“全数字高性能通用驱动装置、交流伺服电机和主轴电机”、国家自然科学基金“数控机床高速高精运动的傅立叶频域控制方法研究”、“基于特征的数控机床运动控制参数自整定策略研究”等项目,主要完成了下述研究：
1.对伺服系统各组成环节的传递函数进行分析,根据伺服系统的控制结构,分别建立了电流环、速度环、位置环三层控制环节对应的数学模型,利用建立的数学模型,对各层环节的控制参数整定过程进行了分析,获得伺服系统控制参数自整定策略研究的理论依据。
2.分别对伺服系统控制参数自整定过程中的三个环节：伺服系统被控对象特征辨识、伺服系统控制性能评价方法、控制参数优化方法进行了研究,得到进行控制参数自整定研究的理论基础。
3.提出了一组伺服系统控制参数离线自整定策略：使电机转子堵转,以q轴电流的阶跃响应过渡指标为目标函数,通过对电流环控制参数进行寻优完成电流环控制参数整定过程；对速度环误差信号进行傅立叶变换,利用误差信号的频谱特性及其他相关参数,对陷波滤波器参数进行整定；对速度环被控对象特征进行非线性重构,以重构结果作为速度环控制参数整定的参考模型,通过对参考模型的控制参数进行寻优完成速度环控制参数整定过程；利用位置环控制参数对跟踪误差的不同影响特性,先后对位置比例增益和位置前馈增益进行寻优,完成位置环控制参数整定过程。
4.提出了一组伺服系统控制参数在线自校正策略：通过对速度环被控对象的近似模型进行在线辨识,利用辨识模型对速度环控制性能进行预测,根据预测结果对速度环控制参数进行校正；构造了两类位置环控制性能评价指标,根据位置环控制性能的在线评价结果,按二次型最优准则对位置环控制参数进行在线校正。
5.构建了基于dSPACE的实时仿真平台,对提出的伺服系统控制参数自整定策略进行了快速原型验证和硬件在环仿真。在完成自整定策略的实时仿真验证后,以实际运行工况中的伺服系统为对象,进行了自整定策略的应用验证,证明了其准确性、稳定性及适应性。
The performance of AC servo system and the control parameters are closely related, so the setting parameters of the servo system must be tuned in order to obtain satisfactory servo performance. Self-tuning is an efficient way to complete the servo system control parameter tuning process to get the satisfactory control parameters quickly, furthermore, it can tune the control parameters on-line in accordance with the changes of the characteristics of the controlled object in the running so that the performance of the servo system can always maintain optimal. Therefore, it is urgent and significant to study the self-tuning strategy of AC servo system control parameters to improve the efficiency and performance of servo systems.
This paper, aiming at obtaining the AC servo system control parameter self-tuning strategies, combined with the National Science and Technology major projects "an all-digital high-performance general-purpose drives, AC servo motor and spindle motor",National Natural Science Fund " Study on the control method of Fourier frequency domain of high speed, high precision motion of CNC machine tool " and "Study on control parameters self-tuning strategy of Feature-based CNC machine tool motion ", mainly completes the following studies:
1.The transfer function of various components of the servo system was analyzed; corresponding mathematical models of the three control loop namely a current loop,velocity loop and position loop were established respectively according to the control structure of various sectors of the servo system; the process of control parameter tuning was analyzed by using the established mathematical model and theoretical basis for the research of control parameters self-tuning was obtained.
2.The three main components of control parameters self-tuning were analyzed respectively:the controlled object feature recognition、system performance evaluation methods,control parameter optimization methods, and theoretical foundation for the research was achieved.
3.A series of off-line auto-tuning strategies of servo control parameters were proposed:Auto-tuning of the control parameters of the current loop was realized by obtaining the optimum step response of the q axis current, employing the rotation optimization method; Fast Fourier changes was used to error signal of the speed closed-loop, the notch filter parameters were tuned by the amplitude-frequency characteristics of the error and other relevant parameters; The reconstruction results of nonlinear characteristics of the controlled object of speed loop were used as a reference model in the control parameter tuning process, by optimizing control parameters of the reference model to complete the auto-tuning of the speed loop control parameters; The impact of the error characteristics of position control parameters was used to optimize, successively and independently, the proportional gain and feed forward gain, completing the auto-tuning process of the position loop control parameters.
4.A set of servo-system control parameter self-tuning strategies were put forward: The approximation model of the controlled object speed loop was identified on-line, using the identification model to predict the performance of the speed loop, and the speed-loop control parameter was tuned according to the predictions; two types of position loop control performance evaluation index were constructioned, according to the online performance evaluation results of position loop, position loop control parameters were tuned on-line according to the rules of the optimal quadratic.
5.Real-time simulation platform was constructed based on dSPACE; the proposed servo system control parameter self-tuning strategy rapid prototype simulation and hardware in the loop simulation were carried out. After the real-time simulation experiments, using the servo system in actual operating conditions as objects to verify the application of the self-tuning strategy which was proved accurate, stable and adaptable.
本文以获取交流伺服系统控制参数自整定策略为目标,结合国家科技重大专项“全数字高性能通用驱动装置、交流伺服电机和主轴电机”、国家自然科学基金“数控机床高速高精运动的傅立叶频域控制方法研究”、“基于特征的数控机床运动控制参数自整定策略研究”等项目,主要完成了下述研究：
1.对伺服系统各组成环节的传递函数进行分析,根据伺服系统的控制结构,分别建立了电流环、速度环、位置环三层控制环节对应的数学模型,利用建立的数学模型,对各层环节的控制参数整定过程进行了分析,获得伺服系统控制参数自整定策略研究的理论依据。
2.分别对伺服系统控制参数自整定过程中的三个环节：伺服系统被控对象特征辨识、伺服系统控制性能评价方法、控制参数优化方法进行了研究,得到进行控制参数自整定研究的理论基础。
3.提出了一组伺服系统控制参数离线自整定策略：使电机转子堵转,以q轴电流的阶跃响应过渡指标为目标函数,通过对电流环控制参数进行寻优完成电流环控制参数整定过程；对速度环误差信号进行傅立叶变换,利用误差信号的频谱特性及其他相关参数,对陷波滤波器参数进行整定；对速度环被控对象特征进行非线性重构,以重构结果作为速度环控制参数整定的参考模型,通过对参考模型的控制参数进行寻优完成速度环控制参数整定过程；利用位置环控制参数对跟踪误差的不同影响特性,先后对位置比例增益和位置前馈增益进行寻优,完成位置环控制参数整定过程。
4.提出了一组伺服系统控制参数在线自校正策略：通过对速度环被控对象的近似模型进行在线辨识,利用辨识模型对速度环控制性能进行预测,根据预测结果对速度环控制参数进行校正；构造了两类位置环控制性能评价指标,根据位置环控制性能的在线评价结果,按二次型最优准则对位置环控制参数进行在线校正。
5.构建了基于dSPACE的实时仿真平台,对提出的伺服系统控制参数自整定策略进行了快速原型验证和硬件在环仿真。在完成自整定策略的实时仿真验证后,以实际运行工况中的伺服系统为对象,进行了自整定策略的应用验证,证明了其准确性、稳定性及适应性。
The performance of AC servo system and the control parameters are closely related, so the setting parameters of the servo system must be tuned in order to obtain satisfactory servo performance. Self-tuning is an efficient way to complete the servo system control parameter tuning process to get the satisfactory control parameters quickly, furthermore, it can tune the control parameters on-line in accordance with the changes of the characteristics of the controlled object in the running so that the performance of the servo system can always maintain optimal. Therefore, it is urgent and significant to study the self-tuning strategy of AC servo system control parameters to improve the efficiency and performance of servo systems.
This paper, aiming at obtaining the AC servo system control parameter self-tuning strategies, combined with the National Science and Technology major projects "an all-digital high-performance general-purpose drives, AC servo motor and spindle motor",National Natural Science Fund " Study on the control method of Fourier frequency domain of high speed, high precision motion of CNC machine tool " and "Study on control parameters self-tuning strategy of Feature-based CNC machine tool motion ", mainly completes the following studies:
1.The transfer function of various components of the servo system was analyzed; corresponding mathematical models of the three control loop namely a current loop,velocity loop and position loop were established respectively according to the control structure of various sectors of the servo system; the process of control parameter tuning was analyzed by using the established mathematical model and theoretical basis for the research of control parameters self-tuning was obtained.
2.The three main components of control parameters self-tuning were analyzed respectively:the controlled object feature recognition、system performance evaluation methods,control parameter optimization methods, and theoretical foundation for the research was achieved.
3.A series of off-line auto-tuning strategies of servo control parameters were proposed:Auto-tuning of the control parameters of the current loop was realized by obtaining the optimum step response of the q axis current, employing the rotation optimization method; Fast Fourier changes was used to error signal of the speed closed-loop, the notch filter parameters were tuned by the amplitude-frequency characteristics of the error and other relevant parameters; The reconstruction results of nonlinear characteristics of the controlled object of speed loop were used as a reference model in the control parameter tuning process, by optimizing control parameters of the reference model to complete the auto-tuning of the speed loop control parameters; The impact of the error characteristics of position control parameters was used to optimize, successively and independently, the proportional gain and feed forward gain, completing the auto-tuning process of the position loop control parameters.
4.A set of servo-system control parameter self-tuning strategies were put forward: The approximation model of the controlled object speed loop was identified on-line, using the identification model to predict the performance of the speed loop, and the speed-loop control parameter was tuned according to the predictions; two types of position loop control performance evaluation index were constructioned, according to the online performance evaluation results of position loop, position loop control parameters were tuned on-line according to the rules of the optimal quadratic.
5.Real-time simulation platform was constructed based on dSPACE; the proposed servo system control parameter self-tuning strategy rapid prototype simulation and hardware in the loop simulation were carried out. After the real-time simulation experiments, using the servo system in actual operating conditions as objects to verify the application of the self-tuning strategy which was proved accurate, stable and adaptable.
引文
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