Load disturbance resistant method and device thereof based on hybrid regulator

A disturbance method and regulator technology, applied in the control of electromechanical transmission, motor generator control, control of electromechanical brakes, etc., can solve the problem that the reluctance torque of salient-pole permanent magnet synchronous motor cannot be identified, and it is difficult to realize online identification. Problems such as large differences in estimation accuracy

Inactive Publication Date: 2013-07-10
ANHUI UNIV OF SCI & TECH
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Problems solved by technology

The existing load torque observers can be generally divided into two categories. One is to design a full-order or reduced-order state observer based on the fundamental wave mathematical model of the motor. This method uses a large number of motor parameters, and its identification accuracy is seriously affected by the parameters; Another method is the Kalman filter method, which automatically calculates the optimal feedback gain coefficient through the estimation error of the system state variables and the statist

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  • Load disturbance resistant method and device thereof based on hybrid regulator
  • Load disturbance resistant method and device thereof based on hybrid regulator
  • Load disturbance resistant method and device thereof based on hybrid regulator

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specific Embodiment approach 1

[0026] Specific implementation mode one: the following combination figure 1 Describe this embodiment mode, the anti-load disturbance method and device based on the hybrid regulator described in this embodiment mode, which includes a PC, a controller, a voltage detection unit, an isolated drive unit, a current detection unit, a rotational speed detection unit, a three-phase Controlled rectifier bridge, bus energy storage capacitor, three-phase full-bridge inverter, permanent magnet synchronous motor, encoder and adjustable load. The three-phase uncontrolled rectifier bridge rectifies the three-phase AC to DC, charges the bus energy storage capacitor, the voltage detection unit detects the bus voltage, and the three-phase full-bridge inverter inverts the bus voltage to provide frequency conversion for the permanent magnet synchronous motor The power supply and the current detection unit detect the stator winding current, and the speed detection unit measures the motor speed and ...

specific Embodiment approach 2

[0027] Specific implementation mode two: the following combination figure 2 This embodiment is described. This embodiment is based on the anti-load disturbance method and device control algorithm based on the hybrid regulator described in Embodiment 1. The specific implementation process is as follows:

[0028] Step 1. Based on the principle of vector control, the mathematical model of the permanent magnet synchronous motor in the three-phase stationary coordinate system is transformed into a two-phase rotating coordinate system to obtain voltage equations, torque equations, and motion equations. The decoupling control of d and q axis currents in the current inner loop is realized by using the idea of ​​double closed loop control;

[0029] Step 2: Taking the load torque and rotational speed as state variables, the difference between the observed rotational speed and the actual rotational speed constitutes a sliding mode surface, and a sliding mode observer is constructed to i...

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Abstract

The invention relates to a load disturbance resistant method and a device thereof based on a hybrid regulator and belongs to the field of permanent magnet synchronous motor servo control. The load disturbance resistant device based on the hybrid regulator comprises a personal computer (PC), a controller, a voltage detection unit, an isolation drive unit, a current detection unit, a rotation speed detection unit, a three-phase non-control rectifier bridge, a bus energy storage capacitor, a three-phase full bridge inverter, a permanent magnet synchronous motor, an encoder and an adjustable load. According to a speed ring, the hybrid regulator is adopted to replace a rotation speed PI regulator of a traditional closed-loop system, and influence on rotation speed fluctuation by load disturbance is restricted. In the hybrid regulator, load torque and the rotation speed serve as state variables, a difference of practical rotation speed and observed rotation speed is defined to be a slip form switching surface, and a slip form load torque observer is designed to be used for achieving online identification of the load torque. The load disturbance resistant device based on the hybrid regulator is suitable for the permanent magnet synchronous motors of different rotor structures, effective under different current control modes and wide in application range.

Description

technical field [0001] The invention relates to a motor control method and device, in particular to a control method and device for anti-load disturbance in an AC servo system of a permanent magnet synchronous motor. Background technique [0002] High-performance permanent magnet synchronous motor servo system requires good dynamic and static performance. In the actual system, the load torque disturbance will cause the fluctuation of the speed. This is because in the traditional speed / current closed-loop system, the engineering optimization of the speed loop transfer function is carried out when the load torque disturbance is assumed to be zero or a fixed value. When the load torque changes, the speed loop regulator cannot suppress the load disturbance. In order to improve the anti-interference performance of the system, the feed-forward compensation of load torque is usually introduced, and combined with the original regulator to form a two-degree-of-freedom hybrid regulat...

Claims

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Application Information

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IPC IPC(8): H02P21/13H02P25/02H02P27/08
Inventor 王静黄友锐董苏
Owner ANHUI UNIV OF SCI & TECH
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