Control method of parameter self-tuning motor controller

Abstract

The present invention relates to a control method of a parameter self-tuning motor controller, and is a motor control system method of realizing the high-performance control of three closed loops (a current loop, a speed loop and a position loop). The control method of the parameter self-tuning motor controller of the present invention is based on the DSP design, has the strong digital operation and motor control capability, and can be widely used in the industry fields, such as the intelligent wheelchair control, the unmanned mower, the industrial automation, the National defence aviation, etc. Meanwhile, a DSP-based mobile motion controller parameter tuning method is developed, so that a motion controller speed and position controller PID parameter self-tuning practical technology is realized.

Description

technical field [0001] The invention relates to a control method of a motor controller whose parameters can be self-tuned, and is a motor control system method for realizing high-performance control of three closed loops (current loop, speed loop and position loop). Background technique [0002] At present, the parameter setting work of most types of controllers is mainly done manually. It is time-consuming and laborious to adjust the controller parameters multiple times by observing the law of the system’s operating state under different parameters, and the effect of parameter setting is not good. Operators have higher requirements. Putting the system into use if the result of parameter tuning is unsatisfactory will greatly affect the performance of the system and even cause system instability; [0003] At present, there are several self-tuning methods: such as solving the nonlinear constraint equation to obtain the optimal PID controller control parameters, but the effici...

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Problems solved by technology

[0002] At present, the parameter setting work of most types of controllers is mainly done manually. It is time-consuming and laborious to adjust the controller parameters multiple times by observing the law of the system’s operating state under different parameters, and the effect of parameter setting is not good. Operators have higher requirements

Putting the system into use if the result of parameter tuning is unsatisfactory will greatly affect the performance of the system and even cause system instability;

[0003] At present, there are several self-tuning methods: such as solving the nonlinear constraint equation to obtain the optimal PID controller control parameters, but the efficiency of the tuning algorithm of this method is relatively low, and it is difficult to be directly used in the engineering field; or an adaptive The compound control structure is used to ignore the setting of the control parameters of the PID controller, but this avoidance method has a large amount of calculation, so the stability of the servo system cannot be guaranteed, etc.

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