Rotating speed ripple reduction method of high-precision permanent-magnet synchronous motor alternating current servo system based on repetitive controller

Abstract

The invention discloses a rotating speed ripple reduction method of a high-precision permanent-magnet synchronous motor alternating current servo system based on a repetitive controller. The method is suitable for high-precision control of a permanent-magnet synchronous motor. The method comprises the steps that steady state speed fluctuation information is acquired; a primary frequency fluctuation component and a secondary frequency fluctuation component at each given speed are obtained by fast fourier analysis; a corresponding data table of each given speed and every two frequency fluctuation components is established according to experimental data; on this basis, a current loop and a motor serve as generalized objects, and the repetitive controller is set at a speed ring for inhibiting steady state fluctuation; and a compound controller output is obtained by combining with a PI (Proportional-Integral) controller for ensuring the dynamic output performance of the system. The method is simple to realize and less in parameter adjustment, can effectively reduce the steady state fluctuation of the permanent-magnet synchronous motor alternating current servo system, achieves a purpose of improving the steady state precision of the permanent-magnet synchronous motor alternating current servo system, and satisfies an application in the field of high-performance permanent-magnet synchronous motor alternating current servos.

Description

technical field [0001] The invention relates to a servo motor system, in particular to a method for suppressing rotational speed pulsation of a high-precision permanent magnet synchronous motor AC servo system based on a repetitive controller. Background technique [0002] With the rapid development of modern science and technology, especially the great progress of power electronics technology, microelectronics technology, digital control technology and modern motor control theory, favorable conditions have been created for the development of AC servo system, especially in robots, precision radar, In fields such as military weapons and CNC machine tools that require higher and higher performance and control precision of AC servo motors, AC servo systems have received more and more attention. [0003] At present, the permanent magnet synchronous motor AC servo speed control system mostly adopts a double closed-loop control structure, that is, the inner loop is a current contr...

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Problems solved by technology

Literature (Chu Jianbo, Hu Yuwen, Huang Wenxin, Yang Jianfei. A method of suppressing the speed pulsation of permanent magnet synchronous motor[J]. Journal of Electrotechnical Society, 2005,25(22):125-128. A repetitive controller for permanent magnet synchronous motor speed was designed There is a periodic disturbance in the pulsation, but this method only considers a single frequency disturbance and does not consider the self-tuning of the speed of the repeated controller parameters under the condition of speed change. For the permanent magnet synchronous motor speed control system, the literature (PaoloMattavelli, LucaTubiana, MauroZigliotto. -ripple reduction in PMsynchronous motor drives using repetitive current control. IEEE Transactions on Power Electronics, 2005, 20(6): 1423-1431) proposed adding a repetitive controller in the current loop to suppress the torque ripple of the AC synchronous motor. Experimental results show that this scheme can well suppress the permanent magnet Periodic Torque Ripple of Synchronous Motor AC Servo System

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