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Self-adaption robust control method for permanent magnet ring torque motor for driving composite swing head

An adaptive robust, circular torque technology, applied in the direction of single motor speed/torque control, electronic commutator, etc., can solve problems such as limited gain, limited system bandwidth, and tracking error cannot be arbitrarily small

Inactive Publication Date: 2013-12-25
SHENYANG POLYTECHNIC UNIV
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  • Abstract
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Problems solved by technology

However, the actual system bandwidth is limited, so the available gain is limited, which determines that the actual tracking error of the system cannot be arbitrarily small

Method used

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  • Self-adaption robust control method for permanent magnet ring torque motor for driving composite swing head
  • Self-adaption robust control method for permanent magnet ring torque motor for driving composite swing head
  • Self-adaption robust control method for permanent magnet ring torque motor for driving composite swing head

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Embodiment Construction

[0154] The present invention will be further described below in conjunction with the accompanying drawings.

[0155] The control system of the present invention includes: motor, Hall sensor, photoelectric encoder, current sampling circuit, motor position and speed detection circuit, DSP, single-channel optocoupler isolation circuit, power supply circuit, rectification and filtering circuit, IPM intelligent power module; DSP The periphery is equipped with Fault signal acquisition circuit, crystal oscillator circuit, reset circuit, memory, communication interface and JTAG interface. The structure of the control system is as Figure 4 shown.

[0156] In this embodiment, the R166 / 100 permanent magnet ring torque motor from CyTec Company is selected, the Hall current sensor LTS25-N from LEM Company is selected to measure the current, and the system current is sampled through the current sampling circuit. The current sampling circuit is as follows: Image 6 As shown, the data is s...

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Abstract

Disclosed is a self-adaption robust control method for a permanent magnet ring torque motor for driving a composite swing head. The control system utilized in the self-adaption robust control method comprises a motor, a hall sensor, a photoelectric encoder, a current sampling circuit, a motor position and speed detecting circuit, a DSP (digital signal processor), a single-channel optical coupling isolation circuit, a power supply circuit, a rectifying filter circuit and an IPM (intelligent power module). A Fault signal acquiring circuit, a crystal oscillator circuit, a reset circuit, a storage unit, a communication interface and a JTAG (join test action group) interface are arranged on the periphery of the DSP. The control method includes steps of determining initial phase of a rotor of a composite swing head driving motor and electric angle speed of the rotor of the motor, executing self-adaption robust control algorithm after comparing current, position and speed measurement in the DSP. The DSP generates corresponding six channels of PWM (pulse-width modulation) pulse signals to drive the motor to run. By the self-adaption control technology, steady-state error caused by uncertainty of parameters can be reduced and tracking accuracy is increased.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an adaptive robust control method for a permanent magnet annular torque motor driving a compound swing head. The method is used to control the compound swing head in a five-axis linkage numerical control system, which can improve the servo control of the system. performance. Background technique [0002] With the development of high-tech and high-precision products, the precision of parts is getting higher and higher. Modern CNC machining is developing in the direction of high speed, high precision, high intelligence, high flexibility, high automation and high reliability. Axis linkage numerical control system came into being. Five-axis simultaneous machining can improve the machining accuracy, quality and efficiency of free-form surfaces in space, and has become a hot spot in the research and development of CNC machine tools in the world today. [0003] The composite...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P6/06H02P6/16H02P6/17
Inventor 孙宜标赵希梅夏加宽刘春丽
Owner SHENYANG POLYTECHNIC UNIV
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