Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation

A servo system and disturbance compensation technology, applied in motor generator control, electronic commutation motor control, single motor speed/torque control, etc., can solve specific models with limited friction nonlinear compensation capability and without considering friction nonlinearity Problems such as system dynamic performance and stability impact

Active Publication Date: 2011-10-05
SOUTHEAST UNIV +1
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Problems solved by technology

However, this method suppresses friction as an external disturbance, and usually does not consider the specific model of friction nonlinearity and its impact

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  • Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation
  • Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation
  • Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation

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Embodiment Construction

[0027] The accompanying drawing discloses a non-restrictive structural schematic diagram of a preferred embodiment involved in the present invention, and the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0028] Such as figure 1 As shown, it discloses the system block diagram of the PMSM servo system control method based on friction and disturbance compensation of the present invention, which uses a photoelectric encoder to collect the rotational speed signal and rotor position signal of the PMSM servo motor, and the photoelectric encoder is installed inside the motor , At the same time, the Hall current sensor is used to collect the current signal of the motor. According to the collected motor current signal and speed signal, the torque current signal and the angular velocity signal of the load are calculated, and the Stribeck friction model is used for modeling, and then the genetic algorithm is ...

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Abstract

The invention discloses a method for controlling a PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation. In the method, a feedforward compensation method based on a friction model is combined with an auto disturbance rejection technology and the feedforward compensation method is complementary with the auto disturbance rejection technology mutually. In the method, a Stribeck friction model is utilized to carry out modeling on system frictions, a GA (genetic algorithm) is adopted to carry out offline identification on parameters, and an estimated value generated by an identification model carries out feedforward compensation; a state observer in the auto disturbance rejection technology observes and compensates overcompensation or undercompensation of the frictions as well as nondeterminacy and external disturbance caused by modeling errors in the system; and finally a differential tracker and a nonlinear control law are used to arrange a transient process for fixed position signals, thus solving the conflict between rapidity and overstrike and ensuring stability of the system and finite time convergence. By using the combined control, the compensation capacity of the system for the frictional nonlinearity can be improved effectively, the low-speed performance of the system is improved, and the tracking accuracy and the anti-disturbance capacity of the system are enhanced.

Description

technical field [0001] The invention relates to a permanent magnet synchronous motor (PMSM) servo system control method based on friction and disturbance compensation, belonging to the technical field of high-precision servo control systems. Background technique [0002] With the improvement of the control precision of the servo system, friction has become an important issue that cannot be ignored. Nonlinear friction has a great impact on the dynamic and static performance of the system, mainly manifested as crawling at low speeds, waveform distortion when the speed crosses zero, large static differences at steady states, and even unexpected limit cycles oscillation. Another important factor affecting the accuracy of the servo control system is the external disturbance. Disturbances often come from uncertain factors neglected in the modeling process, sudden load changes and parameter changes during system operation. The existence of these factors makes the performance of ...

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Application Information

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IPC IPC(8): H02P6/08H02P21/14H02P21/18
Inventor 李世华周旋吴波吴蔚廖富全
Owner SOUTHEAST UNIV
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