TW202135455A - Apparatus of servo motor drives and its current control method - Google Patents

Abstract

An apparatus of servo motor drives and its current control method are proposed. The current control loop of the proposed device consists of a voltage command module with variable frequency, a system model reconstruction module based on Fast Fourier Transform, a current model estimation module considering the time delay, a controller gain tuning module and a current control module with the time delay compensation. The motor parameters and its time delay are identified through the system reconstruction modules to give the motor current model in various frequency ranges. The current controller gains are auto determined based upon optimal method as the time delay is considered and compensated to achieve optimal current response.

Description

Servo motor drive device and current control method thereof

The present invention relates to a servo motor driver device and its current control method, in particular to a control method that can automatically adjust its current controller gain when used with different motors, or with time delay compensation, to maximize Servo motor drive device with good current response.

As shown in Figure 1, it is a schematic diagram of a conventional basic servo control drive system. Its main structure includes a host controller 1, an AC power supply 2, a servo motor driver 3, and a servo motor mechanism system 4; The motor mechanism system 4 includes a servo motor 41, an encoder 42, a transmission mechanism 43 and a mechanical load 44.

控制伺服馬達機構系統4達到需要的行程，而伺服馬達41則透過編碼器42將伺服馬達轉子角度資訊

回授至伺服馬達驅動器3作為控制使用。The servo motor driver 3 includes a power electronic structure of a frequency converter, which can accept the input of a single-phase or three-phase AC power source 2, and uses pulse width modulation technology to output three-phase voltage pulses for the servo motor 41 to drive. At the same time, the servo motor driver 3 receives the position command from the upper controller 1

The servo motor mechanism system 4 is controlled to reach the required stroke, and the servo motor 41 transmits the angle information of the servo motor rotor through the encoder 42

It is fed back to the servo motor driver 3 for control.

經由編碼器42的轉子角度資訊

，再經由計數器36產生；位置命令

與位置回授

經由減法器31得到位置誤差後，再透過位置控制器32產生速度命令

，速度回授

則由位置回授

經過速度估測器37產生；速度命令

與速度回授

經由減法器33得到速度誤差後，再透過速度控制器34產生電流命令

送至電流迴路35，最後再經由電流迴路35產生三相電壓波形

來控制伺服馬達達到目標的轉速與位置，其中

包含了習知的交直軸電流命令成分；在此，位置控制器32與速度控制器34之形式為一比例-積分(PI)控制器，亦可為一比例-積分-微分(PID)控制器。Figure 2 is a position-speed loop series servo control block diagram with a current loop in the conventional servo motor driver 3. The typical control modes are position control loop, speed control loop, and current control loop to control the servo motor. The position, speed and current are required to achieve high-precision and fast-response load characteristics. The servo motor driver 3 may include a subtractor 31, a position controller 32, a subtractor 33, a speed controller 34, a current loop 35, a counter 36, and a speed estimator 37. Position feedback

Rotor angle information via encoder 42

, And then generated by the counter 36; position command

Feedback with location

After the position error is obtained through the subtractor 31, the speed command is generated through the position controller 32

, Speed feedback

Feedback by location

Generated by speed estimator 37; speed command

Feedback with speed

After the speed error is obtained through the subtractor 33, the current command is generated through the speed controller 34

Send to the current loop 35, and finally generate the three-phase voltage waveform through the current loop 35

To control the speed and position of the servo motor to reach the target, where

Contains the conventional AC-DC axis current command component; here, the position controller 32 and the speed controller 34 are in the form of a proportional-integral (PI) controller, or a proportional-integral-derivative (PID) controller .

，電流命令

與電流回授

經由減法器3501得到電流誤差後，再透過電流控制器3502產生交直軸電壓命令

，經過第一座標轉換模組3503產生三相電壓命令

，再經過脈波寬度調變模組3504轉換成三相脈波命令，最後再透過變頻器模組3505將三相脈波命令轉換成實際的三相電壓波形

。在此，電流控制器3502之形式為一比例-積分(PI)控制器。The current control loop block diagram of the conventional servo motor vector control is shown in FIG. 3. Its main structure includes a subtractor 3501, a current controller 3502, a first coordinate conversion module 3503, and a pulse width adjustment module. The variable module 3504, a frequency converter module 3505, a current feedback unit 3506, a current feedback module 3507, an analog/digital converter 3508, and a second coordinate conversion module 3509. The way to realize the current control loop is to convert the motor current into a voltage signal through the current feedback unit 3506, adjust it to a voltage that can be received by the microprocessor through the current feedback module 3507, and then use the analog/digital converter 3508 to perform the actual current After the digital sampling, the second coordinate conversion module 3509 converts the AC current into a digital AC-DC axis current feedback with DC characteristics

, Current command

And current feedback

After the current error is obtained through the subtractor 3501, the current controller 3502 generates the AC-DC axis voltage command

, Through the first coordinate conversion module 3503 to generate a three-phase voltage command

, And then converted into a three-phase pulse command by the pulse width modulation module 3504, and finally converted the three-phase pulse command into the actual three-phase voltage waveform through the inverter module 3505

. Here, the current controller 3502 is in the form of a proportional-integral (PI) controller.

In order to achieve the aforementioned fast response performance, the most important thing is to achieve a better frequency response of the current loop. In terms of performance evaluation indicators, it is especially focused on the size of the current loop bandwidth; when the size of the current loop bandwidth is higher, the transient performance of the servo motor drive system under the current control loop is faster and better, which can be applied to the market The field and its application range are wider; on the contrary, the narrower.

The conventional current loop controller design method is implemented by a proportional-integral (PI) controller. There are three ways to adjust the gain of the controller. The first one is to use unit step commands to test the current feedback in the time domain. State response, adjust the controller gain according to the current response's rise time, settling time, maximum overshoot, and steady-state error. The advantage of this method is simple and intuitive, but the disadvantage is that the variable acceleration is large due to the step command. It is easy to cause the motor speed to overshoot and damage the bearings of the motor, and it is impossible to adjust the servo motor parameters clearly, so it is impossible to directly apply the adjusted gain to different motors. At the same time, this method is more difficult to verify the system bandwidth and stability.

The second method is to use the Frequency Response Analyzer to measure the loop response and adjust the controller gain to meet the system specifications, such as the current bandwidth of the servo drive system of the Republic of China Invention Patent Application No. 106113211 With the method of phase verification device, through a bandwidth and phase measurement auxiliary unit and a frequency response analyzer, the frequency response of the servo drive system in the current loop is analyzed, and the controller is adjusted according to the specifications of the system bandwidth, resonance frequency and peak value. The advantage of gain is that it can grasp the characteristics of frequency response in detail and accurately, including bandwidth and phase characteristics, but the disadvantage is that it requires people with professional background to operate, and it takes time to continuously adjust to meet the specifications. Like the first method, the parameters of the servo motor cannot be clearly known, so it is impossible to directly apply the adjusted gain to different motors.

與等效電感

所構成的方程式。基於此電流等效控制迴路系統，透過變頻器注入特定大小的脈衝電壓或是特定頻率的弦波電壓命令至伺服馬達中，藉由電流回授估測出馬達電氣參數等效電阻

與等效電感

，再依據預設好的頻寬值進行控制器增益的計算。此方法的優點是可以依照不同的馬達估算出馬達電氣參數並透過同一套控制器設計公式計算出增益值，但其方法仍存在一些問題，其中之一為注入的脈衝電壓的大小或特定頻率的弦波電壓命令不易決定，且須先給予控制器增益一個初始值，該初始值的設定會影響參數估測的結果因而影響控制器增益的設計。The third method is to simplify the current loop 35 of the above-mentioned servo motor vector control into a feedback control system composed of a controller and a controlled body. As shown in Fig. 4, its main structure includes a subtractor 3501. A motor current equivalent control loop composed of a current controller 3502 and a current equivalent model 3510 of a servo motor, wherein the current equivalent model 3510 of the servo motor is composed of an equivalent resistance

And equivalent inductance

The equation formed. Based on this current equivalent control loop system, a specific pulse voltage or a specific frequency sine wave voltage command is injected into the servo motor through the inverter, and the equivalent resistance of the motor electrical parameters is estimated by the current feedback.

And equivalent inductance

, And then calculate the controller gain according to the preset bandwidth value. The advantage of this method is that the electrical parameters of the motor can be estimated according to different motors and the gain value can be calculated through the same set of controller design formulas. However, there are still some problems with the method. One of them is the magnitude of the injected pulse voltage or the specific frequency. The sine wave voltage command is not easy to determine, and the controller gain must be given an initial value first. The setting of the initial value will affect the result of parameter estimation and therefore affect the design of the controller gain.

Another more serious problem is that the aforementioned method does not consider the time delay caused by the digital control system. This time delay is a problem that will inevitably arise in the digital control system. According to the theory of digital control, the effect of time delay will cause serious phase lag problems, and when phase lag occurs, it will cause serious stability problems; in other words, the bandwidth value designed without considering time delay , Due to stability issues and limitations of the actual hardware system, it is easy to cause the current loop to have a larger resonance frequency and the system is more unstable; if the controller gain is designed with a conservative bandwidth value, the maximum frequency of the current loop cannot be reached. Wide response. Therefore, how to properly adjust the controller gain in a system with time delay to achieve the maximum bandwidth response with sufficient stability margin; at the same time, how to obtain effective and accurate time delay parameters and compensate for them Methods, these are topics worthy of research and improvement.

It can be seen that the above-mentioned conventional method still has many shortcomings, which is not a good design, and needs to be improved urgently. In view of the shortcomings derived from the above-mentioned conventional methods, the inventor of the present case is eager to improve and innovate, and after years of research, finally successfully completed this servo motor drive device and its current control method.

In view of the above problems, the main purpose of the present invention is to provide a servo motor drive device and its current control method, in order to enable the servo drive system to achieve the best bandwidth response and be applicable to different motors. Add a variable frequency voltage command module to the current loop of the device, use a fast Fourier transform-based system model reconstruction module to find the motor current model in different frequency ranges, and analyze the models in different frequency ranges to estimate Output the motor parameters and its time delay, and automatically adjust the current controller gain according to the time-delay optimization method according to the estimated motor current model and its time delay parameters online to improve the above-mentioned conventional control The problem of insufficient current loop phase margin caused by the gain design method of the device; it can also improve the complicated and expensive method that requires additional measuring instruments for adjustment. Another servo motor driver device and current control method of the present invention also discloses a control method using the aforementioned estimated time delay parameters and time delay compensation, which can improve the phase lag caused by the time delay and make the system The current loop bandwidth can be increased as much as possible with sufficient stability margin, which can solve the technical problems and potential shortcomings existing in the conventional technology.

)； 一交流電源，作為伺服馬達驅動器裝置之輸入能量來源，並連結至伺服馬達驅動器裝置的電力輸入側(RST)； 一伺服馬達機構系統，一伺服馬達與一編碼器同軸共為一體，與伺服馬達驅動器裝置的電力輸出側(UVW)相連接，使機械負載運轉； 一伺服馬達驅動器裝置，與交流電源、上位控制器相連接，可接受單相或三相交流電源的輸入並經由變頻器轉換後，使用脈波寬度調變技術來輸出三相電壓之脈波輸出，將能量轉換至電力輸出側(UVW)來驅動伺服馬達；其內部包含一位置迴路、一速度迴路以及一具時間延遲補償之電流迴路及其控制器；其間伺服馬達驅動器裝置同時接收編碼器的位置信號(

)； 一具時間延遲補償之電流迴路及其控制器包含有：一具時間延遲之電流模型鑑別模組，係利用一可變頻率的電壓命令模組、一基於快速傅立葉轉換的系統模型重建模組、一具時間延遲的電流模型估測模組、一控制器增益計算模組，可得到馬達參數及其時間延遲，及具時間延遲最佳化方法的電流控制器增益；一具時間延遲補償之電流控制模組，將前述的最佳化電流控制器增益自動設定於電流控制的比例-積分(PI)控制器中，並透過估測到的參數執行時間延遲補償的控制方法。Therefore, in order to achieve the above-mentioned object, the present invention is a servo motor drive device and its current control method, which includes: an upper controller, as a motion control command generation, used to issue position commands to the servo motor drive device , And connect to the position command input side of the device (

); An AC power supply, as the input energy source of the servo motor drive device, and is connected to the power input side (RST) of the servo motor drive device; The power output side (UVW) of the servo motor drive device is connected to make the mechanical load run; a servo motor drive device is connected to the AC power supply and the upper controller, and can accept the input of single-phase or three-phase AC power through the inverter After conversion, the pulse width modulation technology is used to output the pulse output of the three-phase voltage, and the energy is converted to the power output side (UVW) to drive the servo motor; it contains a position loop, a speed loop and a time delay Compensated current loop and its controller; meanwhile, the servo motor driver device simultaneously receives the position signal of the encoder (

); A current loop with time delay compensation and its controller include: a time delay current model identification module, which uses a variable frequency voltage command module, and a system model remodeling based on fast Fourier transform Group, a current model estimation module with time delay, a controller gain calculation module, which can obtain motor parameters and time delay, and current controller gain with time delay optimization method; a time delay compensation The current control module automatically sets the aforementioned optimized current controller gain in the current-controlled proportional-integral (PI) controller, and executes the control method of time delay compensation through the estimated parameters.

The advantage of the present invention is that a variable frequency voltage command module is used to generate voltage commands, and the voltage commands and current feedback signals are used. No additional measuring equipment is required, and a system based on fast Fourier transform is used. The model reconstruction module finds the motor current models in different frequency ranges, analyzes the models in different frequency ranges to estimate motor parameters and their time delays, according to the estimated motor current models and their time delay parameters online , According to the optimization method with time delay, the current controller gain is automatically adjusted. Therefore, the controller parameter gain can be appropriately adjusted under the system with time delay to reach the maximum bandwidth with sufficient stability margin. response.

In addition, another advantage of the present invention is that it proposes to use the aforementioned estimated time delay parameters with a time delay compensation control method, which can improve the phase lag caused by the time delay, so that the system can operate with sufficient stability margin. Increase the current loop bandwidth as much as possible under the temperature.

With regard to the features and implementation of the present invention, the best embodiments are described in detail as follows in conjunction with the drawings. 5 to 8 illustrate the implementation of the servo motor driver device and current control method of the present invention. 5 shows a block diagram of the servo motor drive device and current control method of the present invention, which includes: a host controller 1 connected to the position command input side of the servo motor drive device 5 of the present invention; and an AC power supply 2 , Connected to the power input side (RST) of the servo motor drive device 5 of the present invention; a servo motor mechanism system 4 connected to the power output side (UVW) of the servo motor drive device 5 of the present invention; a servo motor drive device of the present invention The motor driver device 5 is connected to the upper controller 1, the AC power source 2, the servo motor mechanical system 4; it includes a position loop 51, a speed loop 52, and a current loop with time delay compensation and its controller 53.

The block diagram of the current loop with time delay compensation and its controller 53 of the present invention is shown in FIG. 6. Its main structure includes a current model identification module 5301 with time delay and a current control with time delay compensation. Module 5302, a voltage command switching module 5303, a first coordinate conversion module 5304, a pulse width modulation module 5305, an inverter module 5306, a current feedback unit 5307, a current feedback module Group 5308, an analog/digital converter 5309, and a second coordinate conversion module 5310.

以及積分時間常數

所構成的方程式；而具時間延遲的伺服馬達電流等效模型係由時間延遲

、等效電阻

以及等效電感

所構成的方程式，時間延遲造成的最主要的影響係會為控制系統帶來額外的相位落後的問題，此問題係造成控制頻寬無法提高的瓶頸點之一，同時會帶來嚴重的不穩定問題。因此，若能夠將等效電阻

、等效電感

以及時間延遲

等參數精確的估測出來，便能夠設計出考量時間延遲的最佳化控制器增益，使其達到有足夠穩定性裕度的最大頻寬響應；或是進一步實現時間延遲補償的控制方法，使得系統能夠在足夠的穩定性裕度下盡可能地提高電流迴路頻寬之目的。First, the core principle of the present invention is explained. According to the theory of digital control, the current loop of the digital vector control of the servo motor can be regarded as a digital current composed of a current controller, a servo motor current equivalent model with a time delay, etc. Effective control loop, where the current controller is determined by the proportional gain value

And the integral time constant

And the equivalent model of servo motor current with time delay is composed of time delay

, Equivalent resistance

And equivalent inductance

In the equations formed, the most important influence caused by time delay is that it will bring additional phase lag problems to the control system. This problem is one of the bottlenecks that cannot increase the control bandwidth, and it will also cause serious instability. problem. Therefore, if the equivalent resistance can be

, Equivalent inductance

And time delay

After accurate estimation of the parameters, we can design an optimized controller gain that takes into account the time delay to achieve the maximum bandwidth response with sufficient stability margin; or further realize the control method of time delay compensation, so that The system can increase the current loop bandwidth as much as possible with sufficient stability margin.

，經由電壓命令切換模組5303依照S1信號切換於接點B得到交直軸電壓命令

，經過第一座標轉換模組5304產生三相電壓命令，再經過脈波寬度調變模組5305轉換成三相脈波命令，最後再透過變頻器模組5306將三相脈波命令轉換成實際的三相電壓波形；同時，馬達電流透過電流回授單元5307轉換成電壓信號，經由電流回授模組5308調整成微處理器可接收的電壓大小，再經由類比/數位轉換器5309進行實際電流的數位化取樣後，透過第二座標轉換模組5310，將交流電流轉換成具直流特性的數位交直軸電流回授

，再將數位交直軸電流回授

與交直軸電壓命令

一同輸入至具時間延遲之電流模型鑑別模組5301中，等到分析與估測出等效電阻

、等效電感

以及時間延遲

後，自動計算出具時間延遲的最佳化控制器增益

與

，將控制器增益連同時間延遲

傳送到具時間延遲補償之電流控制模組5302中，並控制S1信號使得電壓命令切換模組5303切換於接點A後，便能夠實現具時間延遲之電流迴路控制。In order to realize the parameter estimation of the online motor current model and its time delay proposed in the present invention, and use the optimization method with time delay to automatically design the gain of the current controller, refer to FIG. 6, which has time delay compensation. The specific implementation method of the current loop and its controller is to generate a variable frequency voltage command through a time-delayed current model identification module 5301

, Through the voltage command switching module 5303, switch to contact B according to the S1 signal to obtain the AC-DC axis voltage command

, The first coordinate conversion module 5304 generates a three-phase voltage command, and then the pulse width modulation module 5305 converts it into a three-phase pulse command, and finally the inverter module 5306 converts the three-phase pulse command into actual At the same time, the motor current is converted into a voltage signal by the current feedback unit 5307, adjusted by the current feedback module 5308 to a voltage that can be received by the microprocessor, and then used by the analog/digital converter 5309 for actual current After the digital sampling, the second coordinate conversion module 5310 converts the AC current into a digital AC-DC axis current feedback with DC characteristics

, And then feedback the digital AC-DC axis current

With AC-DC axis voltage command

Input together into the current model identification module 5301 with time delay, and wait until the equivalent resistance is analyzed and estimated

, Equivalent inductance

And time delay

Then, the optimized controller gain with time delay is automatically calculated

and

, Delay the controller gain together with the time

After being transmitted to the current control module 5302 with time delay compensation, and controlling the S1 signal so that the voltage command switching module 5303 is switched to contact A, the current loop control with time delay can be realized.

考慮了時間延遲

，因此，可使控制器達到有足夠穩定性裕度的最大頻寬響應。The specific implementation method of the current model identification module 5301 with time delay of the present invention is shown in FIG. 7, which includes a variable frequency voltage command module 53011, a system model reconstruction module 53012, and a time delay A current model estimation module 53013 and a controller gain calculation module 53014. Among them, the variable frequency voltage command module 53011, its voltage command type has multiple frequency points and its voltage vibration is the same. It can be a Chirp sine wave command function, or it has multiple frequency sequences with the same amplitude In addition to the complex frequency array function signal, as long as it conforms to multiple frequency points and the characteristics of the voltage vibration are the same, it can be used in the voltage command generation method of the module. At the same time, the system model reconstruction module 53012 can build motor current models in different frequency ranges; the current model estimation module 53013 with time delay can analyze the models in different frequency ranges to estimate motor parameters and their time delays. ; And the controller gain calculation module 53014 can calculate the current controller gain according to the optimization method with time delay according to the motor current model and its time delay parameters, where the controller gain

Consider the time delay

Therefore, the controller can achieve the maximum bandwidth response with sufficient stability margin.

與交直軸電壓命令

進行快速傅立葉轉換，根據分析結果的振幅與角度進行數學運算後，將其儲存在G陣列與P陣列，便可得到該系統的模型陣列。至此，便是實作系統模型重建模組的方法。The present invention proposes a method of using fast Fourier transform techniques to reconstruct a system model, which is executed in a real-time digital signal processor through a software program method. The main principle of the method is to feed back the digital AC-DC axis current.

With AC-DC axis voltage command

Perform fast Fourier transformation, perform mathematical operations based on the amplitude and angle of the analysis results, and store them in the G array and P array to obtain the model array of the system. So far, it is the method to implement the system model reconstruction module.

、等效電感

，並根據參數建立馬達電流模型，再將馬達電流模型與其他頻率區段系統模型的G陣列與P陣列相互運算後，可獲得時間延遲

的估測值。以上，便是實作具時間延遲的電流模型估測模組的方法。In addition, the current model estimation module with time delay of the present invention is also implemented in a real-time digital signal processor through a software program, based on the G array and P of the lower frequency range system model. Array, estimated motor parameters, including equivalent resistance

, Equivalent inductance

, And establish the motor current model according to the parameters, and then calculate the time delay between the motor current model and the G array and P array of other frequency section system models.

Estimated value. The above is the method of implementing the current model estimation module with time delay.

與電流回授

經由減法器53021得到電流誤差後，在經過比例增益值53022與積分時間常數值53023以及積分器53024運算後，並透過加法器53025總和後，得到比例-積分(PI)控制器的控制量。其中，比例增益值53022與積分時間常數值53023會依照前述的方法調適控制器增益。The structure of the implementation type 1 of the current control module 5302 with time delay compensation of the present invention is shown in FIG. 8, which includes a subtractor 53021, an adjustable controller proportional gain value 53022, and an adjustable controller Integration time constant value 53023, an integrator 53024 and an adder 53025, current command

And current feedback

After the current error is obtained by the subtractor 53021, the proportional gain value 53022, the integral time constant value 53023 and the integrator 53024 are calculated, and then summed by the adder 53025, the control value of the proportional-integral (PI) controller is obtained. Among them, the proportional gain value 53022 and the integral time constant value 53023 will adjust the controller gain according to the aforementioned method.

After the description of the implementation type of the servo motor driver device and its current control method of the present invention, it can be seen that the block diagrams of Figs. 5 to 8 can indeed achieve the parameters of the online estimation of the motor current model and its time delay, with a time delay. The optimization method automatically calculates the function of the current controller gain suitable for the system, and appropriately adjusts the controller gain in a system with time delay to achieve the maximum bandwidth response with sufficient stability margin.

Another advantage of the present invention is that it proposes to use the aforementioned estimated time delay parameters with a time delay compensation control method, which can improve the phase lag caused by the time delay, so that the system can operate under sufficient stability margin. Increase the current loop bandwidth as much as possible. Refer to Figures 9 to 10 for the implementation.

先經由一時間延遲補償器53026，並根據控制器的控制量、電流回授

以及估測的時間延遲

進行數學運算後得到補償量，電流命令

再與該補償量經由減法器53021可得到時間延遲補償後的電流誤差，再經過比例增益值53022與積分時間常數值53023以及積分器53024運算後，並透過加法器53025總和後，可得到具時間延遲補償之比例-積分(PI)控制器的控制量。如上述依本實施型態，因其時間延遲補償的控制方法，便能夠改善因為時間延遲所造成相位落後問題。9 is the embodiment 2 of the current control module 5302a with time delay compensation of the servo motor driver device and the current control method of the present invention. The main difference from FIG. 8 is the current feedback

First go through a time delay compensator 53026, and according to the control amount of the controller, current feedback

And the estimated time delay

Compensation amount after mathematical operation, current command

The current error after the time delay compensation can be obtained through the subtractor 53021 with the compensation amount. After the proportional gain value 53022, the integral time constant value 53023 and the integrator 53024 are calculated, and the sum is summed through the adder 53025, the time delay can be obtained. The control value of the proportional-integral (PI) controller for delay compensation. As described above, according to the present embodiment, due to the time delay compensation control method, the phase lag problem caused by the time delay can be improved.

進行數學運算後得到補償值，將電流命令

與電流回授

經由減法器53021得到的電流誤差，再經由加法器53027將兩者進行相加後，可得到具有時間延遲補償後的電流誤差，再經過比例增益值53022與積分時間常數值53023以及積分器53024運算後，並透過加法器53025總和後，可得到具時間延遲補償之比例-積分(PI)控制器的控制量。同樣的，如上述依本實施型態，因其時間延遲補償的控制方法，亦能夠改善因為時間延遲所造成相位落後問題。10 is the embodiment 3 of the current control module 5302b with time delay compensation of the servo motor driver device and the current control method of the present invention. Its implementation form has an adder 53027 and a time delay compensator 53026. Only the control amount of the controller and the estimated time delay

After performing mathematical operations, the compensation value is obtained, and the current is commanded

And current feedback

The current error obtained by the subtractor 53021 is added by the adder 53027 to obtain the current error with time delay compensation, which is then calculated by the proportional gain value 53022 and the integral time constant value 53023 and the integrator 53024 Then, after summing through the adder 53025, the control value of the proportional-integral (PI) controller with time delay compensation can be obtained. Similarly, as described above, according to this embodiment, due to the time delay compensation control method, the phase lag problem caused by the time delay can also be improved.

To sum up, this case is not only innovative in terms of technical ideas, but also can improve the above-mentioned multiple functions compared with the conventional technology. It should fully meet the requirements of novel and progressive statutory invention patents. An application is filed in accordance with the law. Please approve this case. Patent applications for inventions, to encourage invention, to the sense of virtue.

1: Upper controller 2: AC power 3: Servo motor driver 31: Subtractor 32: position controller 33: Subtractor 34: Speed controller 35: current loop 3501: subtractor 3502: current controller 3503: The first coordinate conversion module 3504: Pulse width modulation module 3505: Inverter module 3506: current feedback unit 3507: Current feedback module 3508: analog/digital converter 3509: The second coordinate conversion module 3510: Current equivalent model of servo motor 36: counter 37: Speed estimator 4: Servo motor mechanism system 41: Servo motor 42: encoder 43: transmission mechanism 44: Mechanical load 5: Servo motor drive device of the present invention 51: position loop 52: Speed loop 53: Current loop and its controller with time delay compensation 5301: Current model identification module with time delay 53011: Variable frequency voltage command module 53012: System model reconstruction module 53013: Current model estimation module with time delay 53014: Controller gain calculation module 5302: Implementation Type 1 of Current Control Module with Time Delay Compensation 5302a: Implementation Type 2 of Current Control Module with Time Delay Compensation 5302b: Implementation Type 3 of Current Control Module with Time Delay Compensation 53021: Subtractor 53022: Proportional gain value of the controller 53023: Time constant value of the controller 53024: Integrator 53025: Adder 53026: Time delay compensator 53027: Adder 5303: Voltage command switching module 5204: The first coordinate conversion module 5305: Pulse width modulation module 5306: Inverter module 5307: current feedback unit 5308: Current feedback module 5309: analog/digital converter 5310: The second coordinate conversion module

[Figure 1] is a block diagram of a conventional servo motor drive control system. [Figure 2] is a block diagram of the conventional serial servo control. [Figure 3] is a block diagram of the conventional vector control current loop control. [Figure 4] is a block diagram of a conventional motor current equivalent control loop. [Figure 5] is a block diagram of the servo motor driver device and its current control method of the present invention. [Figure 6] is a block diagram of the current loop with time delay compensation and its controller of the present invention. [Figure 7] is a block diagram of the current model identification module with time delay of the present invention. [Figure 8] is the implementation type 1 of the current control module with time delay compensation of the present invention. [Figure 9] is the implementation type 2 of the current control module with time delay compensation of the present invention. [Figure 10] is the implementation type 3 of the current control module with time delay compensation of the present invention.

1: Upper controller

2: AC power

4: Servo motor mechanism system

5: Servo motor drive device of the present invention

51: position loop

52: Speed loop

53: Current loop and its controller with time delay compensation

Claims (10)

A servo motor driver device and its current control method, including: A host controller is used to generate motion control commands; an AC power supply is used as the input energy source of the servo motor driver; a servo motor mechanical load, a servo motor and an encoder are coaxially integrated, and the power output of the servo motor driver The side-phase connection makes the mechanical load run; a servo motor drive device, connected to the AC power supply and the upper controller, accepts single-phase or three-phase AC power input and converted by the inverter, using pulse width modulation technology To output the pulse output of three-phase voltage, convert the energy to the power output side to drive the servo motor; it includes a position loop, a speed loop and a current loop with time delay compensation and its controller. The current loop with time delay compensation and its controller as described in claim 1, including a current model identification module with time delay, a current control module with time delay compensation, and a voltage command switching module , A first coordinate conversion module, a pulse width modulation module, an inverter module, a current feedback unit, a current feedback module, an analog/digital converter, and a second coordinate conversion The modules are connected. The current model identification module with time delay as described in claim 2 is connected to the current control module with time delay compensation to generate voltage command signals and store voltage command signals and current feedback signals. Issue a motor current model with time delay, analyze the models in different frequency ranges to estimate motor parameters and their time delay, according to the estimated motor current model and time delay parameters online, according to the best time delay The method automatically adjusts the current controller gain. The current control module with time delay compensation as described in claim 2 is the optimized current controller gain obtained through the current model identification module with time delay, and its gain is automatically set in the current control mode In the group of controllers, the estimated time delay parameters can be used for time delay compensation control methods. The current model identification module with time delay as described in claim 3 includes four modules, namely a variable frequency voltage command module, a system model reconstruction module, and a time delay current model An estimation module and a controller gain calculation module. The current control module with time delay compensation according to claim 4, wherein the current control method includes the following features: (1) With adjustable controller proportional gain value and integral time constant value and integrator calculation; (2) With time delay compensator; (3) The current feedback first passes through a time delay compensator, and the compensation value is obtained after mathematical operations are performed according to the control value of the controller, the current feedback and the estimated time delay. The current command and the compensation value are obtained through the subtractor. The current error after the time delay compensation is calculated by the proportional gain value, the integral time constant value and the integrator, and after the summation by the adder, the control value of the proportional-integral (PI) controller with time delay compensation can be obtained; (4) The time delay compensator can only obtain the compensation value after the mathematical operation of the controller's control value and the estimated time delay. The current command and current feedback are passed through the subtractor to obtain the current error, and then the two are combined through the adder. After the addition, the current error with time delay compensation can be obtained. After the proportional gain value, the integral time constant value and the integrator calculation, and the sum of the adder, the proportional-integral with time delay compensation ( PI) The control quantity of the controller. The variable frequency voltage command module according to claim 5, wherein the voltage command type has a plurality of frequency points and the characteristics of the voltage vibration are the same. It can be a Chirp sine wave command function or has a plurality of The signal of the composite frequency array function with the same amplitude of the frequency sequence, except for those that conform to multiple frequency points and the characteristics of the same voltage amplitude are the characteristics generated by the voltage command of the module. The system model reconstruction module according to claim 5, wherein the system model reconstruction is based on the fast Fourier transform method to analyze the stored voltage command signal and the current feedback signal, and obtain the G array and the P array according to the analysis result to obtain System model array. In addition, the method of model reconstruction is not limited to the fast Fourier transform method, and the modules of the model function established by numerical methods such as recursive functions are those that conform to the characteristics of the system model reconstruction. The current model estimation module with time delay according to claim 5, wherein the method includes the following features: (1) According to the G array and P array of the lower frequency section system model, estimate the motor parameters, including equivalent resistance, equivalent inductance, etc.; (2) Calculate the motor current model according to the electrical parameters of the motor; (3) According to the mutual calculation of the G array and P array of the motor current model and other frequency section system models, the estimated value of the time delay is obtained. The controller gain calculation module according to claim 5, wherein the controller gain is characterized by calculating the controller gain according to the motor current equivalent model and the estimated value of the time delay.

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