Control method of mechanical elastic energy storing permanent magnet motor group under non-harmonic disturbances

Abstract

Provided is a control method of a mechanical elastic energy storing permanent magnet motor group under non-harmonic disturbances. The permanent magnet motor group comprises a permanent magnet synchronous motor, a gear gearbox and a volute spring box used for mechanical elastic energy storing. The control method includes that a full system mathematical model including the permanent magnet synchronous motor, the gear gearbox and the volute spring box is constructed, and then non-linear internal model equations and a state feedback controller are designed aiming at nonlinear disturbances generated by a nonlinear external system. According to the control method, the different non-linear internal model equations are designed on the basis of type features of external disturbances, and the state feedback controller is designed on the basis of a nominal system control law. Test results prove that the designed state feedback controller can ensure that angular velocity output by the permanent magnet motor group under various external disturbances is basically stable and enables a closed loop system to fast track reference signals, and high-accuracy servo control of the motor group is achieved.

Description

technical field [0001] The invention relates to a control method of a permanent magnet synchronous motor with mechanical elastic energy storage, belonging to the technical field of motors. Background technique [0002] Energy storage technology has very important practical significance for solving the current problems of new energy grid connection, peak regulation and frequency regulation, ensuring the balance between supply and demand of the power grid, and maintaining the stability of the system. On the basis of in-depth research on the principle of Mechanical Elastic Energy Storage (MEES), the technicians proposed a permanent magnet motor mechanical elastic energy storage method. The permanent magnet synchronous motor (PMSM) has power The advantages of high density, high efficiency, large electromagnetic torque, small size, and fast response are the optimal choice for the servo system of the energy storage unit of this method. Due to the electromechanical coupling charac...

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Problems solved by technology

During the energy storage operation of the permanent magnet motor type mechanical elastic energy storage unit, the continuous change of the elastic torque and moment of inertia of the coil spring will have a negative impact on the performance of the servo system

In addition, PMSM itself has the characteristics of nonlinearity, strong coupling, and time-varying characteristics. Especially when the unit is connected to the grid for energy storage, the unit will often suffer from nonlinear external disturbances, and the adaptability of the PID controller with fixed conventional parameters will become poor. Meet the control requirements of high precision servo system

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