PI parameter setting method of motor controller, control system and storage device

Abstract

The invention discloses a PI parameter setting method of a motor controller, a control system and a storage device. The PI parameter setting method of the motor controller comprises the following steps: establishing a motor control system model comprising a motor, a speed loop controller and a current loop controller; obtaining a simplified closed loop s-domain transfer function of the current loop according to the voltage model equation s-domain transfer function of the motor and the s-domain open-loop transfer function of the current loop controller; obtaining a proportionality coefficient and an integral coefficient of the current loop according to the simplified closed loop s-domain transfer function of the current loop; and deducing an open-loop s-domain transfer function of the speed loop through the simplified closed-loop s-domain transfer function of the current loop so as to obtain a proportionality coefficient and an integral coefficient of the speed loop. According to the scheme, the PI parameter can be deduced and calculated through a formula, and the workload of setting the PI parameter by the motor controller is reduced.

Description

technical field [0001] The present application relates to the technical field of motor control, in particular to a method for setting PI parameters of a motor controller, a control system, and a storage device. Background technique [0002] Motors are widely used in high-performance servo systems due to their small size, high power density, and high efficiency. The design of the controller parameters of the motor control system greatly affects the system performance. The controller of the motor control system includes a current loop controller and a speed loop controller. The current loop controller realizes the rapid following of the inner loop current, which is the basis for the normal operation of the outer loop, and the speed loop controller is the key link to realize the excellent speed regulation performance of the system. Therefore, to improve the performance of the controller, it is necessary to set the optimal PI parameters to meet the requirements of the correspo...

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Problems solved by technology

[0003] For different motor control systems, there are usually three methods for PI parameter tuning: one is manual tuning, that is, the trial and error method, through artificially building a test environment, and manually adjusting to find the PI parameters suitable for the current system, so as to confirm the current loop in the motor control system. and the PI parameter size of the speed loop, so that the motor control system can work normally, but the debugging workload is large, time-consuming and labor-intensive; the second is based on the pole configuration method of the high-order control object, that is, the relevant physical characteristics of the actual system are reflected through the high-order object model , so as to determine the PI parameters of the system, but the modeling of high-order control objects is complex, and the controller parameters need to be determined through simulation analysis, and the practical effect is not good; the third is the mixed tuning method of PI parameters, that is, through the phase angle margin and closed-loop bandwidth To determine the PI parameters of the system and the stability and response speed of the system, but the calculation is complex and the amount of calculation is large

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