Closed-loop disturbance observation compensation method for servo motor current loop

Abstract

The invention relates to a closed-loop disturbance observation and compensation method for the current loop of a servo motor. The method introduces a disturbance observer outside the current closed-loop control loop with a lower bandwidth to estimate in real time the perturbation by the parameters of the servo motor and the instability of the power supply voltage. The current output disturbance caused by factors such as , current sensor noise, etc., is compensated by the disturbance compensator. Compared with the conventional high-bandwidth current closed-loop control method, the present invention realizes the real-time control of the servo motor with a lower bandwidth current loop through the real-time estimation and compensation of disturbances such as servo motor parameter perturbation, ensuring that the servo motor While responding quickly, it has a higher stability margin, greatly reduces the sensitivity of the current loop to electrical noise, has high control precision, and is easy to implement, especially suitable for high-precision servo motor control applications.

Description

technical field [0001] The invention belongs to the technical field of motor control, and more specifically relates to a closed-loop disturbance observation compensation method for a current loop of a servo motor. Background technique [0002] Servo motors are widely used in industrial automatic control fields that require high control precision, such as CNC machine tools, robots, gyro-stabilized photoelectric imaging equipment, etc. The control system generally consists of a position loop, a speed loop and a current loop. Among them, the current loop uses the output current of the motor as the feedback signal to construct a current closed-loop control loop, so that the output current of the motor can track the set expected current, avoiding the influence of the back electromotive force of the motor on the output current of the motor, improving the response speed of the motor, and reducing the The influence of disturbance factors such as motor parameter perturbation and exte...

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Problems solved by technology

[0004] However, according to the basic principle of automatic control, the design of high bandwidth will inevitably lead to the decrease of the stability margin of the closed-loop system, which reduces the robustness of the control performance in the case of large motor parameter perturbation; in addition, the higher the bandwidth of the current loop, the higher the motor current output. The greater the influence of sensor and circuit noise, the greater the deviation between the current output and the expected current, thereby reducing the control accuracy of the servo motor

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