Method for realizing passive control law of direct-current motor based on load observation

A DC motor, passive control technology, applied in the direction of DC motor speed/torque control, motor generator control, electronic commutation motor control, etc., can solve the problems of difficult realization and difficult torque sensor cost, and achieve anti- Strong load disturbance capability, reduced system cost, and good robustness

Inactive Publication Date: 2015-03-04
HOHAI UNIV
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Problems solved by technology

[0005] Purpose of the invention: Aiming at the shortcomings of the traditional DC motor speed control system in the above-mentioned prior art that it is difficult to achieve the ideal control effect in the occasions with high dynamic performance requirements and the torque sensor is high in cost and difficult to implement, the present invention detects the DC motor on-line. The two parameters of motor armature current and speed estimate the load torque in real time, and propose a method to realize the passive control law of DC motor based on load observation

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  • Method for realizing passive control law of direct-current motor based on load observation
  • Method for realizing passive control law of direct-current motor based on load observation
  • Method for realizing passive control law of direct-current motor based on load observation

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Embodiment

[0056] A load observation based DC motor passive control law implementation method proposed by the present invention is implemented in the DC motor drive system shown in Table 1.

[0057] Table 1

[0058] Rated voltage

u N =220V

Rated speed

no N =1500r / min

rated current

I N =113.24A

Total resistance of armature circuit

R=0.42Ω

Allowable overload multiple

λ=1.5

Total flywheel torque of the system

GD 2 =26.95Nm 2

[0059] The passive control law function of the DC motor drive system shown in Table 1 is

[0060] U=(1.098-m)Ω * +(0.42+r 2 ) i * +mΩ-r 2 i. (12)

[0061] Set the given speed as 1200r / min, and the filter time of the load torque observer as 0.001s, and carry out simulation modeling and simulation analysis in MATLAB environment.

[0062] Figure 2 ~ Figure 3 For different additional mechanical damping r 1 and additional electromagnetic damping r 2 Under these conditions, the ...

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Abstract

The invention discloses a method for realizing a passive control law of a direct-current motor based on load observation. A load torque observer is used for detecting the armature current and rotating speed of a direct-current motor on line, so that a load torque estimated value under the current working condition is obtained and fed back to a passive controller of the direct-current motor. When a load changes, the passive controller is used for ensuring that the rotating speed is stabilized at an instruction value through a pulse width modulation converter by using an interconnection and damping distribution passive control method based on a port controlled consumption Hamilton model of a direct-current motor dragging system according to a real-time load estimated by the load torque observer. Aiming at the condition that a load torque is needed in realization of the passive control law of the direct-current motor, the observer is adopted for estimating the load torque in real time, so that the cost for using a torque sensor is reduced, meanwhile, the realization difficulty of the passive control law is lowered, and a new approach is provided for the realization of a robust controller of the direct-current motor based on the passive control law.

Description

technical field [0001] The invention belongs to the field of motion control, and in particular relates to a method for realizing a passive control law of a DC motor based on load observation. Background technique [0002] DC motors are widely used because of their smooth speed regulation characteristics and good control performance. However, in the occasions that require high dynamic performance of the system, if it can quickly start to reach the desired speed, and the speed fluctuation is small when the load changes, it is difficult to achieve the ideal control effect for the DC motor speed control system using the traditional PI controller. [0003] Passivity-based control (PBC) is a design method to achieve stability by describing the passivity of the system with respect to the desired energy storage function and injecting additional damping. When the DC motor speed control system is running in a steady state, it can be considered that the energy input and output of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P7/00H02P21/13
Inventor 黄嘉伟王宏华张杰
Owner HOHAI UNIV
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