Position-sensor-free control method for transformer substation patrol robot

Abstract

The invention discloses a position-sensor-free control method for a transformer substation patrol robot. The method comprises the steps that before the robot is started, voltage pulses are applied to a driving motor of the robot two times, a responsive inductance value is solved according to the current change rate detected by a current sensor, and then the rotor position angle of the driving motor before starting of the robot is obtained by combining a judgment method of a motor rotor magnetic pole according to the function relation of the motor position angle and the inductance value. After the robot operates, motor drive is based on the SVPWM control technology, three different voltage vectors exist in the PWM period of every time, the voltage vectors correspond to different phase current change values, counter electromotive force is obtained by measuring the phase current change values corresponding to the different voltage vectors and combining voltage values, and finally the active cell position of the driving motor of the robot is obtained in real time. According to the method, the position information of the driving motor of the robot can be obtained accurately and effectively.

Description

technical field [0001] The invention relates to a position-sensing control method for a substation inspection robot. The back-emf method based on the SVPWM control technology can accurately and effectively acquire the position information of the robot-driven motor. Background technique [0002] At present, in robot systems of various structures, the scheme of using permanent magnet synchronous motor (PMSM) has a high efficiency, so this scheme plays an important role. Especially in electric robots and small robots, PMSMs have been more used due to these advantages. However, in general, the driving motor of the robot uses a mechanical position sensor to detect the speed of the motor and the position of the mover, such as a photoelectric encoder and a resolver. However, the existence of mechanical sensors has brought many disadvantages: 1) The number of connection elements between the motor and the controller increases, the pit interference ability becomes worse, and the syst...

AI Technical Summary

Problems solved by technology

However, the existence of mechanical sensors has brought many disadvantages: 1) The number of connection elements between the motor and the controller increases, the pit interference ability becomes worse, and the system reliability is reduced; 2) The space size and volume of the motor are increased, reducing the Increase the power density, increase the hardware cost and maintenance cost of the system; 3) In high temperature and strong corrosion environment, the performance of the sensor will deteriorate or even fail, resulting in the failure of the motor drive system to work normally

[0003] Whether the initial position of the rotor can be accurately estimated is a prerequisite for the high-performance control strategy (vector control or direct torque) of the permanen

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