Improvement method of low-speed performance of permanent magnet synchronous motor

Abstract

The invention discloses an improvement method for the low-speed performance of a permanent magnet synchronous motor, belonging to the field of high-performance servo control. The improvement method comprises the following steps: carrying out filtering pre-processing on the output of a speed calculation module by virtue of an improved Butterworth low-pass filter; establishing a composite PMSM mathematical model, and designing a general speed equation by the composite PMSM mathematical model; establishing a standard speed equation by the general speed equation; designing a disturbance observer with regard to the standard speed equation; adjusting the gain matrix L of the disturbance observer, correcting a lumped disturbance estimated value and compensating a speed PI adjustor through forward feedback to obtain final output. High-frequency noise components in the output of the calculation module are effectively filtered by the improved Butterworth low-pass filter, thus avoiding influence on the low-speed performance of the motor; the lumped disturbance is estimated through the disturbance observer and is subjected to forward feedback processing, so that not only can the influence of external disturbance be eliminated, but also the load torque item, the friction torque item and the inertia perturbation of the permanent magnet synchronous motor can be effectively processed, and the low-speed performance of the permanent magnet synchronous motor can be improved.

Description

Technical field [0001] The invention relates to a method for improving the low-speed performance of a servo motor, in particular to a method for improving the low-speed performance of a permanent magnet synchronous motor, belonging to the field of high-performance servo control. Background technique [0002] Permanent magnet synchronous motor (PMSM) is a complex nonlinear system with inherent uncertainty. There are serious external disturbances during operation. These factors are often more prominent when the motor is running at low speed. The low-speed performance of a motor refers to the performance of the motor when it runs below the rated speed. Its quality is an important indicator to measure the overall performance of the permanent magnet synchronous motor speed control system. The excellent low-speed performance can broaden the speed regulation ratio of the motor and improve the system's anti-load disturbance ability to meet the industrial needs of CNC machine tools and ro...

AI Technical Summary

Problems solved by technology

Among them, such as neural network and fuzzy control, etc., because the algorithm implementation is too complex and does not consider the specific engineering needs of the servo industry, it is still difficult to be directly applied to actual projects.

[0004] The literature adopted the disturbance observer (disturbance observer, DOB) to improve the speed The loop performance provides a reference for the improvement of the low-speed performance of the permanent magnet synchronous motor, but the disturbance observer it uses is designed based on the transfer function model, which is theoretically feasible, but the transfer function is an external description of the object and does not include the friction in the motor model Torque, load torque and other internal information affect the low-speed performance of the permanent magnet synchronous motor system

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