Permanent-magnet spherical motor rotor self-adapting control system based on dynamic friction compensation

An adaptive control and dynamic friction technology, applied in the direction of motor generator control, control system, vector control system, etc., can solve the problem that the controller cannot achieve high-precision control, the static friction model cannot fully reflect the dynamic influence, and the compensation ability is limited And other issues

Active Publication Date: 2014-05-07
ANHUI UNIVERSITY
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the static friction model cannot fully reflect the dynamic influence of the friction torque on the rotor of the permanent magnet sp

Method used

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  • Permanent-magnet spherical motor rotor self-adapting control system based on dynamic friction compensation
  • Permanent-magnet spherical motor rotor self-adapting control system based on dynamic friction compensation
  • Permanent-magnet spherical motor rotor self-adapting control system based on dynamic friction compensation

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Embodiment Construction

[0055] What is used in this embodiment is a three-degree-of-freedom permanent magnet spherical motor, which is composed of a spherical rotor and a spherical shell-shaped stator, and its output shaft is fixed on the rotor. Four layers of permanent magnets are symmetrically and evenly distributed along the equatorial plane on the rotor, and each layer has ten cylindrical permanent magnets made of FeNdB material. The cylindrical permanent magnets are embedded on the rotor, and N and S levels are arranged alternately; Two layers of coils are evenly inlaid on the surface, and each layer has twelve cylindrical coils. By implementing the invention, the high-precision motion control of the tilt, pitch and spin of the rotor of the permanent magnet spherical motor can be realized.

[0056] Such as figure 1 As shown, the permanent magnet spherical motor rotor adaptive control system based on dynamic friction compensation in this embodiment takes the permanent magnet spherical motor roto...

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Abstract

The invention discloses a permanent-magnet spherical motor rotor self-adapting control system based on dynamic friction compensation. The system is characterized in that a permanent-magnet spherical motor rotor servers as a controlled object, and the control system is set to comprise a parameter self-adaptation adjustment module, a dynamic friction state observation module, a dynamic friction feedforward compensation module and a calculation moment module. The parameter self-adaptation adjustment module obtains adjustment parameters of the calculation moment module and the dynamic friction feedborward compensation module by real-time calculation achieved in a self-adaptation algorithm. The dynamic friction state observation module is composed of two state observers with two different dynamic items and is used for calculating state quantity estimation value in a dynamic friction model in real time. The dynamic friction feedforward compensation module calculates in real time to obtain a friction compensation moment tfc. The calculation moment module calculates to obtain a main control moment tc. The total control moment t of the controlled object is set to be t=tfc+tc. According to the control system, dynamic friction compensation of the permanent-magnet spherical motor rotor is achieved, and accordingly control precision is improved, and starting moment is reduced.

Description

technical field [0001] The invention belongs to the technical field of dynamic control of permanent magnet spherical motors, and relates to a rotor adaptive control system of permanent magnet spherical motors based on dynamic friction compensation. Background technique [0002] With the continuous development of modern industrial technology, robots, robotic arms, panoramic cameras and other devices that need to realize high-precision servo motion in three-dimensional space have been widely used. Since this type of device usually uses multiple single-degree-of-freedom motors combined with complex gear transmission mechanisms, on the one hand, the volume of the system increases, the weight increases, and the stiffness decreases. On the other hand, affected by uncertain factors such as external disturbances, the motion control system responds slowly and has poor dynamic performance, and even affects the stability of the entire system in severe cases. Therefore, researchers at ...

Claims

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Application Information

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IPC IPC(8): H02P21/13
Inventor 过希文王群京文彦钱喆周睿赵双双赵元尹雅芹
Owner ANHUI UNIVERSITY
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