Control system for low-speed running of permanent magnet motor

A control system and permanent magnet motor technology, applied in the direction of torque ripple control, etc., can solve the problems of no consideration of influence, large error, and reduced response speed of the control system, so as to achieve increased response speed, increased stability, and good adaptability Effect

Active Publication Date: 2010-12-01
SHANGHAI INST OF TECHNICAL PHYSICS - CHINESE ACAD OF SCI
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  • Abstract
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Problems solved by technology

[0003] The disadvantage of this control system is that it does not consider the influence of other resistance torques except cogging torque
Since the cogging torque is a periodic disturbance, other resistance torques such as friction torque or elastic resistance torque can be regarded as non-periodic disturbances. The impact of non-periodic disturbances on the delay of the control system is not the same as that of periodic disturbances. A single estimate The device cannot accurately

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  • Control system for low-speed running of permanent magnet motor
  • Control system for low-speed running of permanent magnet motor
  • Control system for low-speed running of permanent magnet motor

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[0020] 1. According to figure 2 The block diagram shown to build the control system; the block diagram of the adaptive PID controller is as image 3 As shown; the block diagram of the disturbance estimator is as Figure 4 Shown; the feedback speed ω of the outermost loop of the control system - Either the estimated speed ω'or the measured speed ω can be used. Generally, if the resolution of the sensor is high enough, the output of the estimator can be used as feedback. If the resolution of the sensor is not high but the response is fast enough, the speed derived from the sensor can be used As feedback.

[0021] 2. Select the pole op of the disturbance estimator 1 And op 2 , You can make op 1 =op 2 And choose 2-6 times the pole corresponding to the 3dB bandwidth of the control system; use the acker function of Matlab software to calculate the feedback gain g required by the disturbance estimator 1 And g 2 , The use of acker function is:

[0022] [g 1 g 2 ]=acker(A′,B′,op) (6)

[002...

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Abstract

The invention discloses a control system for low-speed running of a permanent magnet motor, which consists of a speed controller, a current loop, an angle sensor, a disturbing estimator, a tooth socket torque estimator and a tooth socket torque calculator. The sizes of the tooth socket torque and the rest resisting moments are quickly calculated by the disturbing estimator and the tooth socket torque estimator; the influence of the tooth socket torque on the speed is further accurately calculated through the tooth socket torque calculator so as to make compensation; the stability of the control system is increased by controlling integral coefficients of the speed controller in real time, and equivalently, output current is changed through changing the integral coefficients to compensate for aperiodic resisting moments at the same time; and the response speed of the control system is increased by carrying out the advanced compensation of the delay of the controller so that the disturbance is quicker to attenuate. The control system has higher correctness and stability, and is particularly suitable for realizing the low-speed control of the permanent magnet motor under the condition of the larger change range of the resisting moments.

Description

technical field [0001] The invention relates to a motor control system, more specifically, the invention relates to a control system for permanent magnet motors running at low speed. Background technique [0002] Cogging torque is an inherent phenomenon of permanent magnet motors. Due to the existence of cogging, the output torque of the motor fluctuates, which affects the accuracy of the control system. This phenomenon is especially obvious at low speeds. In addition to improving the structure of the motor in the existing technology, the suppression of the cogging torque is mainly to increase the compensation measures for the cogging torque in the control algorithm in the control system, so as to reduce the fluctuation of the motor speed. For example, the system introduced in the article "Research on Low-speed Cogging Torque Ripple Compensation of Direct Drive Annular Permanent Magnet Torque Motor" on pages 21-24 of the third issue of "Electrical Technology" in 2009, consis...

Claims

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Application Information

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IPC IPC(8): H02P6/10
Inventor 张育王跃明刘银年王建宇王晟伟庄晓琼
Owner SHANGHAI INST OF TECHNICAL PHYSICS - CHINESE ACAD OF SCI
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