CN-122026758-A - Servo motor PID position pointing smooth optimization method based on acceleration feedback

CN122026758ACN 122026758 ACN122026758 ACN 122026758ACN-122026758-A

Abstract

The invention discloses a servo motor PID position pointing smooth optimization method based on acceleration feedback, and belongs to the technical field of motor control. The method comprises the steps of obtaining PID parameters, a target position of a motor and in-place preset time, confirming an acceleration section, a deceleration section and an adjustment section in a stroke according to a starting point and the target position, executing acceleration section three-loop PID control, adjusting a position loop command value according to acceleration feedback, executing deceleration section three-loop PID control, adjusting the position loop command value according to the acceleration feedback, and executing adjustment section PID control, wherein the position loop command value is kept as an end position.

Inventors

ZHOU YIFAN
LIU YUNMENG
HAN KAILIANG
ZHU YU
SUN ZHONGZHOU
Qin Shangshi
Song Wenmao

Assignees

中国科学院上海技术物理研究所

Dates

Publication Date: 20260512
Application Date: 20260409

Claims (10)

1. The servo motor PID position pointing smooth optimization method based on acceleration feedback is characterized by comprising the following steps of: Step S1, an FPGA motor drive control module receives an upper computer instruction, wherein the upper computer instruction comprises PID parameters, a motor target position, in-place preset time and a conventional PID travel threshold value, and if a travel path exceeds the conventional PID travel threshold value, a PID smooth optimization control algorithm is used; step S2, after the initial position, the target position and the in-place preset time of the motor are known, in order to ensure that the in-place process of the motor is a uniform acceleration and uniform deceleration process, calculating the ideal speed of the motor at the midpoint position of the path, namely the position with the maximum speed, so as to calculate the ideal acceleration of the uniform acceleration section and the uniform deceleration section; Step S3, executing PID smooth optimization control of an acceleration section, wherein the acceleration section is arranged before the motor reaches the midpoint position, the command value of each position ring is influenced by the current actual acceleration, if the actual acceleration is greater than the ideal acceleration, the position ring command value is downwards adjusted, otherwise, the position ring command value is upwards adjusted; Step S4, executing PID smooth optimization control of a deceleration section, wherein the motor is a deceleration section after reaching a midpoint position, the command value of each position ring is influenced by the current actual acceleration, if the actual acceleration is greater than the ideal acceleration, the command value of the position ring is adjusted upwards, otherwise, the command value of each position ring is adjusted downwards; Step S5, when the motor reaches a specific distance from the target position, the motor enters an adjustment section, the specific distance is set within a conventional PID travel threshold value, and conventional PID control is used at the stage, namely, the position loop command value is kept at the target end position.
2. The method for optimizing PID position pointing smoothness of a servo motor based on acceleration feedback according to claim 1, wherein in step S1, the FPGA motor driving control module comprises the following components of motor position sensor analysis, motor working current analysis, motor position loop, speed loop and current loop calculation, and motor SVPWM vector modulation algorithm outputs PWM waves.
3. The method for optimizing PID position pointing smoothness of a servo motor according to claim 1, wherein in step S2, the speed is calculated by using the difference between two adjacent speed loops as the current speed, and the acceleration is calculated by using the difference between two adjacent speed loops.
4. The method for optimizing PID position orientation of a servo motor based on acceleration feedback of claim 1, wherein step S1 comprises the steps of , For the target position of the motor, For conventional PID control of the travel threshold, if A conventional PID control algorithm is started, if And starting a PID smoothing optimization control algorithm.
5. The method for optimizing PID position orientation of a servo motor based on acceleration feedback according to claim 4, wherein the position of the midpoint of the path is the maximum speed of the motor at the maximum speed position Thereby calculating the ideal acceleration of the uniform acceleration section and the uniform deceleration section The reckoning method comprises the following steps: ; ; The time is preset for in-place.
6. The acceleration feedback-based servo motor PID position orientation smoothing optimization method of claim 1, wherein the specific travel threshold value Can be adjusted according to the actual motion condition of the motor.
7. The servo motor PID position pointing smooth optimization method based on acceleration feedback according to claim 2, wherein in a position loop, the stator position of a current motor is obtained by collecting motor position sensor data, the stator position is input into a position loop PID controller to obtain a speed loop command value, in the speed loop, the motor movement speed is collected through a stator rotation angle in unit time, the current loop command value is input into the speed loop PID controller, the current loop performs Clark conversion and park conversion through collecting motor three-phase currents Ia, ib and Ic to obtain Q-axis current Iq and D-axis current Id, then the motor input Q-axis voltage vector Uq and D-axis voltage vector Ud are calculated through a PID controller, and PWM waves with different duty ratios are output to the motor through a SVPWM vector modulation to adjust the movement speed and direction of the motor.
8. The acceleration feedback-based servo motor PID position pointing smooth optimization method as claimed in claim 7, wherein the position loop, the speed loop and the current loop all adopt PID controllers, the operation formulas are as follows, and the operation formulas are as follows 、、 Are all set PID parameters, and the set PID parameters, Is the first The servo error is calculated once and then, Is the first The secondary PID controller calculates and outputs: ; The PID smoothing optimization control algorithm first position loop command value is fixed as follows: ; Wherein, the For the initial position of the motor, For routine PID control of the travel threshold, the first Input command value for secondary position loop The calculation method comprises the following steps: ; Wherein, the For the actual acceleration to be the case, Is the ideal acceleration, K is the change rate of the position command, the first Sub-position loop time-of-day position sampling value Position loop servo error The method comprises the following steps: 。
9. the acceleration feedback-based servo motor PID position pointing smooth optimization method according to claim 8, wherein the command value of the speed loop is output after PID adjustment of the speed loop, the speed is calculated by using the time of two adjacent speed loops, the difference value of the position sensor is used as the current speed, and the first speed is the speed of the servo motor The secondary speed loop servo error is The speed loop command value is The actual speed is : 。
10. The acceleration feedback-based servo motor PID position pointing smooth optimization method according to claim 9, wherein the command value of the current loop is output after PID adjustment of the speed loop, the current sampling uses a mode of series current detection resistors of motor bus to carry out coordinate transformation on the current value, A, B two-phase current collected by the system is an original value under an ABC three-phase coordinate system, and then three-phase current ABC is converted into DQ axis current and electrical angle value through Clark transformation and Park transformation, and the method is the first The secondary current loop servo error is The current loop command value is The actual current is : 。

Description

Servo motor PID position pointing smooth optimization method based on acceleration feedback Technical Field The invention belongs to the technical field of motor control, and particularly relates to a servo motor PID position pointing smooth optimization method based on acceleration feedback. Background The position control of the servo motor is widely applied to the fields of industrial automation and precision manufacturing, transportation, aerospace and the like, and realizes high-precision motion control. For example, the robot joint driving adopts a servo motor to realize complex operations such as welding, assembling and the like, the electric automobile driving adopts a permanent magnet synchronous servo motor with the efficiency of more than 95 percent to support instantaneous torque adjustment, and the aerospace servo mechanism technology conversion is applied to more scenes, such as realizing high-precision spectrum calibration and the like through high-precision pointing control of a two-dimensional pointing mirror. The core indexes of the algorithm comprise control precision and stability, in-place speed, service life and the like, so that a servo motor control system with high performance and speed and stability is constructed, and the servo motor control system is helpful for promoting motor motion control related technologies in various fields. In the modern actual motor control application, the requirements on control precision, response speed and stability are higher and higher, and the traditional PID algorithm faces the problems of great parameter adjustment difficulty and insufficient robustness. The proportional coefficient P is lower, steady-state errors can occur, the steady-state errors can not be eliminated, the integral coefficient I is lower, the steady-state errors can not be eliminated, the overshoot is too high, even if the system does not oscillate, the overshoot still can cause the stability of the motor to be reduced, the damage to the mechanical structure of a bearing of the motor is large, the service life of the motor is shortened, even if PID parameters are set, under the condition that the distribution of the path load torque on the motor is uneven, the optimal parameters corresponding to different motion paths are changed, and therefore the robustness of a traditional PID algorithm is poor. Disclosure of Invention In order to solve the technical problems, the invention provides a servo motor PID position pointing smooth optimization method based on acceleration feedback, so as to solve the problems in the background art. In order to achieve the above purpose, the present invention provides the following technical solutions: a servo motor PID position pointing smooth optimization method based on acceleration feedback comprises the following steps: Step S1, an FPGA motor drive control module receives an upper computer instruction, wherein the upper computer instruction comprises PID parameters, a motor target position, in-place preset time and a conventional PID travel threshold value, and if a travel path exceeds the conventional PID travel threshold value, a PID smooth optimization control algorithm is used; step S2, after the initial position, the target position and the in-place preset time of the motor are known, in order to ensure that the in-place process of the motor is a uniform acceleration and uniform deceleration process, calculating the ideal speed of the motor at the midpoint position of the path, namely the position with the maximum speed, so as to calculate the ideal acceleration of the uniform acceleration section and the uniform deceleration section; Step S3, executing PID smooth optimization control of an acceleration section, wherein the acceleration section is arranged before the motor reaches the midpoint position, the command value of each position ring is influenced by the current actual acceleration, if the actual acceleration is greater than the ideal acceleration, the position ring command value is downwards adjusted, otherwise, the position ring command value is upwards adjusted; Step S4, executing PID smooth optimization control of a deceleration section, wherein the motor is a deceleration section after reaching a midpoint position, the command value of each position ring is influenced by the current actual acceleration, if the actual acceleration is greater than the ideal acceleration, the command value of the position ring is adjusted upwards, otherwise, the command value of each position ring is adjusted downwards; Step S5, when the motor reaches a specific distance from the target position, the motor enters an adjustment section, the specific distance is set within a conventional PID travel threshold value, and conventional PID control is used at the stage, namely, the position loop command value is kept at the target end position. Compared with the prior art, the invention has the beneficial effects that: Through reasonable planning spe