CN-122026767-A - Motor double-ring compensation control method and system

CN122026767ACN 122026767 ACN122026767 ACN 122026767ACN-122026767-A

Abstract

The invention discloses a motor double-loop compensation control method and system, wherein the method comprises the following steps of constructing a speed-power corresponding relation, constructing a power-speed corresponding relation, executing double-loop compensation, acquiring a speed signal and a current signal in real time in a speed loop running mode, acquiring a power limiting parameter corresponding to the current speed through a speed-power fitting curve set to serve as limiting input of a speed loop PID controller, acquiring the speed signal and the current signal in real time in the power loop running mode, and acquiring the speed limiting parameter corresponding to the current power through the power-speed fitting curve set to serve as limiting input of the power loop PID controller to realize motor double-loop collaborative compensation. According to the invention, through constructing the bidirectional corresponding relation between the speed and the power and the speed and combining extremum extraction and curve fitting and double-loop compensation execution, the control reliability and the control precision of the motor under the complex working condition are improved, and the high-performance requirement of industrial automation on a drive control system is adapted.

Inventors

HUANG JIN
CAO YANG
ZHOU YU
BAI XUWEI
WANG QIAN
QIAN ZHIWEI
CAO TINGTING

Assignees

大洋智能(江苏)科技产业有限公司

Dates

Publication Date: 20260512
Application Date: 20251218

Claims (10)

1. The motor double-ring compensation control method is characterized by comprising the following steps of: S1, sending a speed command to a motor, starting a speed power self-tuning flow, increasing the speed command according to a preset increment, collecting actual operation parameters of the motor in real time, forming a speed power steady-state sample and storing the speed power steady-state sample; repeating the acquisition process to obtain a plurality of groups of speed and power steady-state samples; Extracting extremum from multiple groups of corresponding power data aiming at each speed value, and obtaining a speed power fitting curve group based on all the speed values and the corresponding extremum thereof; S2, sending a power instruction to the motor, starting a power speed self-tuning flow, increasing the power instruction according to a preset increment, collecting actual operation parameters of the motor in real time, forming a power speed steady-state sample and storing the power speed steady-state sample; repeating the acquisition process to obtain a plurality of groups of power speed steady-state samples; extracting extremum from multiple groups of corresponding speed data aiming at each power value, and obtaining a power speed fitting curve group based on all the power values and the corresponding extremum thereof; s3, acquiring a speed signal and a current signal in real time in a speed loop operation mode, and acquiring a power limiting parameter corresponding to the current speed through a speed power fitting curve set to serve as limiting input of a speed loop PID controller; In the power loop operation mode, speed signals and current signals are collected in real time, and speed limiting parameters corresponding to the current power are obtained through a power speed fitting curve group and are used as limiting input of a power loop PID controller.
2. The motor double-loop compensation control method according to claim 1, wherein in the steps S1 and S2, the determination of the stable operation of the motor is performed by continuously collecting the actual operation parameters a plurality of times, and based on whether the deviation of the sampling values satisfies the preset stable condition, the collected data is ensured to be the stable operation data of the motor.
3. The motor double-loop compensation control method according to claim 2, wherein the stabilized operation data is noise-reduced by a preset filtering algorithm to improve the purity of the sample data.
4. The motor double-loop compensation control method according to claim 1, wherein in the steps S1 and S2, the samples are stored in pairs, and each group of steady-state samples is stored in a preset storage area according to the correspondence between the command value and the acquisition value.
5. The motor double loop compensation control method of claim 4, wherein the obtaining of the plurality of groups of samples determines a minimum effective number of sample groups based on a goodness of fit requirement, and if the first fit does not meet a preset goodness of fit standard, the collected samples are supplemented until the requirement is met.
6. The motor double-loop compensation control method according to claim 1, wherein the extremum extraction in the steps S1 and S2 adopts a linear scanning algorithm optimized by pairwise comparison, and the extremum is screened by comparing the data with the current minimum value and the current maximum value respectively.
7. The motor double-loop compensation control method according to claim 1, wherein the curve fitting algorithm in the steps S1 and S2 preferably adopts quadratic curve fitting, a linear equation set is constructed through a normal equation, and fitting coefficients are solved by a preset solving method to form a fitting curve.
8. The motor double-loop compensation control method according to claim 7, wherein the singularity of the coefficient matrix is detected before solving the linear equation set, and if the singularity exists, the corresponding processing is performed to avoid the abnormality in the solving process.
9. The motor double loop compensation control method according to any one of claims 1 to 8, wherein the goodness-of-fit test in steps S1 and S2 is implemented by calculating a decision coefficient, and if the test result does not reach a preset standard, feeding back speed power self-tuning or power speed self-tuning abnormal information and triggering a re-acquisition process.
10. A motor double loop compensation control system, comprising: The speed power relation construction module is used for sending a speed power self-setting command and a speed command which is increased according to a preset increment, collecting actual operation parameters of the motor in real time, processing data after the motor is stabilized to form a speed power steady-state sample and storing the speed power steady-state sample, repeatedly collecting the speed power steady-state sample to obtain a plurality of groups of samples, extracting extremum from the plurality of groups of power data corresponding to each group of speed, generating a speed power fitting curve group through a curve fitting algorithm based on the speed value and the corresponding extremum, and executing fitting goodness test; The power speed relation construction module is used for sending a power speed self-setting command and a power command increasing according to a preset increment, collecting actual operation parameters of the motor in real time, processing data after the motor is stabilized to form a power speed steady-state sample and storing the power speed steady-state sample, repeatedly collecting the power speed steady-state sample to obtain a plurality of groups of samples, extracting extremum from the plurality of groups of speed data corresponding to each group of power, generating a power speed fitting curve group through a curve fitting algorithm based on the power value and the corresponding extremum, and executing fitting goodness test; The double-loop cooperative compensation module is used for acquiring the speed signal and the current signal in real time under the speed loop operation mode, acquiring the power limiting parameter corresponding to the current speed through the speed power fitting curve group and inputting the power limiting parameter into the speed loop PID controller, and acquiring the speed signal and the current signal in real time under the power loop operation mode, acquiring the speed limiting parameter corresponding to the current power through the power speed fitting curve group and inputting the speed limiting parameter into the power loop PID controller, so that the double-loop cooperative compensation of the motor is realized.

Description

Motor double-ring compensation control method and system Technical Field The invention relates to the field of motor control, in particular to a motor double-loop compensation control method and system. Background With the rapid development of industrial automation and intelligent equipment industries, higher requirements are put on the adaptive capacity, output performance and control reliability of a drive control system by equipment. At present, mainstream motor drive control systems in the market are designed aiming at specific voltage ranges and low-power scenes, a drive framework fed back by a motor and a sensor is adopted, and equipment linkage is realized through control loop adjustment and bus communication. However, under actual complex working conditions, static limiting parameters cannot cope with interference, motor stall is caused by single sensor feedback distortion, sample collection lacks a stable criterion, so that fitting curve precision is insufficient, a sample library is not dynamically updated, working condition change cannot be adapted, and control reliability and precision are difficult to guarantee. Disclosure of Invention The invention aims to provide a motor double-loop compensation control method and system, which realize the cooperative compensation of a speed loop and a power loop by constructing a two-way corresponding relation between speed and power and combining extremum extraction, curve fitting and double-loop compensation execution. The specific technical scheme is as follows: A motor double-loop compensation control method comprises the following steps: S1, sending a speed command to a motor, starting a speed power self-tuning flow, increasing the speed command according to a preset increment, collecting actual operation parameters of the motor in real time, forming a speed power steady-state sample and storing the speed power steady-state sample; repeating the acquisition process to obtain a plurality of groups of speed and power steady-state samples; Extracting extremum from multiple groups of corresponding power data aiming at each speed value, and obtaining a speed power fitting curve group based on all the speed values and the corresponding extremum thereof; S2, sending a power instruction to the motor, starting a power speed self-tuning flow, increasing the power instruction according to a preset increment, collecting actual operation parameters of the motor in real time, forming a power speed steady-state sample and storing the power speed steady-state sample; repeating the acquisition process to obtain a plurality of groups of power speed steady-state samples; extracting extremum from multiple groups of corresponding speed data aiming at each power value, and obtaining a power speed fitting curve group based on all the power values and the corresponding extremum thereof; s3, acquiring a speed signal and a current signal in real time in a speed loop operation mode, and acquiring a power limiting parameter corresponding to the current speed through a speed power fitting curve set to serve as limiting input of a speed loop PID controller; In the power loop operation mode, speed signals and current signals are collected in real time, and speed limiting parameters corresponding to the current power are obtained through a power speed fitting curve group and are used as limiting input of a power loop PID controller. Further, in steps S1 and S2, the determination of the stable operation of the motor is achieved by continuously collecting the actual operation parameters for a plurality of times, and based on whether the deviation of the sampling value meets the preset stable condition, the collected data is ensured to be the stable operation data of the motor. Further, the stabilized operation data is subjected to noise reduction treatment by adopting a preset filtering algorithm so as to improve the purity of the sample data. Further, in steps S1 and S2, the sample storage adopts a pair storage mode, and each group of steady-state samples is stored in a preset storage area according to the corresponding relation between the command value and the acquisition value. Further, the acquisition of multiple groups of samples determines the minimum effective sample group number based on the fitting goodness requirement, and if the first fitting does not reach the preset goodness standard, the acquired samples are supplemented until the requirement is met. Further, the extremum extraction in the steps S1 and S2 adopts a linear scanning algorithm optimized by pairwise comparison, and the extremum extraction is compared with the current minimum value and the current maximum value after pairwise comparison of data, so that the screening of the corresponding extremum is completed. Further, the curve fitting algorithm in the steps S1 and S2 preferably adopts quadratic curve fitting, a linear equation set is constructed through a normal equation, and a preset solving method is adopte