Method for detecting position information of patrol robot of transformer substation through mixed observation device

Abstract

The invention discloses a method for detecting position information of a patrol robot of a transformer substation through a mixed observation device. The method combines an initial position detection closed-loop control system, the mixed observation device, a model reference normalization algorithm, a fuzzy controller and a salient pole effect compensating controller to detect rotor position and velocity information of the patrol robot of the transformer substation accurately and effectively. The method can detect position and velocity information of the patrol robot of the transformer substation accurately and effectively.

Description

technical field [0001] The invention relates to a method for a substation inspection robot to detect position information by using a hybrid observation device, which combines an initial position detection closed-loop control system, a hybrid observer, a model reference normalization algorithm, a fuzzy controller, a saliency effect compensation controller and a hybrid observation The controller is combined to accurately and effectively detect the rotor position and speed information of the substation inspection robot. 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...

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Problems solved by technology

[0005] 1. The open-loop calculation method of the ideal model of the motor is used, such as the direct calculation method, the back electromotive force integration method, etc. The calculation method based on the open-loop is simple and direct, and the dynamic performance is better; but the calculation depends on the motor parameters, and the total parameters of the motor run is changing, which will inevitably affect the accuracy of rotor position estimation; and when the motor speed is very low, the back electromotive force is very small, and it is easy to be mixed with various interference signals, and the signal-to-noise ratio becomes low, making it difficult to control the back electromotive force detection; so this method is not suitable for sensorless position estimation when the motor is stationary or at low speed;

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