Self-adapting compensation method for friction moment of non-brush DC moment motor position server system
An adaptive compensation and friction torque technology, applied in the direction of electronic commutator, single motor speed/torque control, etc., can solve problems such as friction torque obstruction and affecting system accuracy.
Inactive Publication Date: 2009-08-26
HARBIN ENG UNIV
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[0007] The purpose of the present invention is to provide a kind of self-adaptive compensation according to the characteristics of the friction torque when the brushless DC torque motor is running, so that the brushless DC torque motor can follow the control signal with high precision, so as to solve the problem of high-precision BDCM position servo system brushless DC Adaptive compensation method for brushless DC torque motor position servo system friction torque
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[0029] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0030] figure 1 It is the flow chart of the main program of the system. The main program is mainly the initialization of the system, including the initialization of DSP registers, interrupts, timers, and event managers. Then wait for the interrupt to come.
[0031] figure 2 For the control algorithm flow chart, the high-precision BDCM position servo system has three-loop control: current loop (torque loop), speed loop and position loop. The three-loop control is controlled by discrete PID control law.
[0032] image 3 It is the flow chart of the counting value of the absolute encoder, which mainly detects the position signal of the brushless DC torque motor, and the position signal is obtained by the absolute encoder.
[0033] Figure 4 The relationship between friction and velocity is pointed out. Among them: (1) elastic deformation stage; (2) boundary l...
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The invention provides a self-adapting compensation method for friction moment of non-brush DC moment motor position server system. A high-precision BDCM position server system comprises the three rings control which comprises a position ring, a speed ring and a current ring; the three rings control all adopt a dispersed PID control rule to control. An actual position signal is obtained by an absolute pulse coder; the speed is output to a fixed value n by the digital PI arithmetic of a processing position controller; a photoelectric encoder obtains an actual speed signal; the digital P arithmetic of a speed controller outputs a current to a fixed value I; an actual current signal I is obtained by a Hall current sensor; the average voltage value needed for conducting an electronic armature winding is confirmed by a current adjuster; a corresponding register is set according to a calculated duty ratio to lead the event manager of the DSP to generate a PWM signal compensated by the friction moment to control the motor to run accurately. The invention solves the problem of insufficient system precision caused by the obstructing effect of the friction moment brought by the running of the non-brush DC moment motor of the high-precision BDCM position server system.
Description
(1) Technical field [0001] The invention relates to a control method of a brushless DC torque motor. (2) Background technology [0002] At present, the servo system uses a pulse width modulation (PWM) power amplifier and a brushless DC torque motor (BDCM) to form a system drive device, so it is referred to as a PWM BDCM servo system. The brushless DC torque motor achieves two different directions of speed by the conduction phase sequence of the three-phase winding, and the conduction phase sequence of the motor winding is realized by a steering control signal (PTS) with digital characteristics. PTS is the high and low level corresponding to the different directions of the motor. In the high-precision BDCM position servo system, when the brushless DC torque motor is running, there is a certain frictional torque hindering effect, and the frictional torque is not equal in each operating stage of the motor, thus affecting the control accuracy of the system. [0003] The fricti...
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IPC IPC(8): H02P6/08H02P6/16
Inventor 刘胜王五桂李冰王宇超刘杨
Owner HARBIN ENG UNIV