Permanent magnet synchronous motor position control method based on motor model

Abstract

The invention provides a permanent magnet synchronous motor position control method based on a motor model. The method comprises the following steps: decomposing the control of the motor into the control on the d-axle current and the q-axle current, when the motor is in the position control, performing the following control of the q-axle current set: acquiring the torque set through the deviation of angle and the deviation of speed, computing the torque set as T_ref=pos_K1*Theta_err-pos_K2*W_est+T_est; (1) wherein pos_K1 and the pos_K2 are position loop control coefficient, acquiring the control coefficient according to the position loop bandwidth and motor model operation; pos_K1=J*Pos_gain*Pos_gain; (2) pos_K2=2*J*Pos_gain-B; (3). The beneficial effect is that the position loop control gain is acquired according to the motor model, the tedious testing is avoided; an estimation model of the motor has the corresponding gain regulation so as to enhance the use range of the system; the operation topology is simple and can be conveniently used for a single chip system.

Description

technical field [0001] The invention relates to a position control method of a permanent magnet synchronous motor, in particular to a position control method of a permanent magnet synchronous motor based on a motor model. Background technique [0002] Permanent magnet synchronous motors are usually used in high-speed positioning applications, and the synchronous motor driver must control the motor to run in position control mode, that is, to control the position of the motor shaft. The conventional control method is a three-ring nested control mode. The current control loop, speed control loop, and position control loop are placed from the inside out, and this structure determines that the bandwidth should be reduced layer by layer from the inside to the outside, so the bandwidth of the current loop limits the bandwidth and response speed of the speed loop and position loop . The commonly used control methods of the current loop are: hysteresis control, PI control, dead be...

AI Technical Summary

Problems solved by technology

[0008] The PID control parameters of the position loop are difficult to set

In this way, the output of the position loop is the setting of the current loop. Due to the ambiguity of the system model, the PID parameters of the position loop have no corresponding theoretical value, so it is necessary to verify whether the parameters are reasonable one by one by trial and error.

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