High precision servo control system ripple moment identification and inhibition method
A servo control system, high-precision technology, applied in the direction of torque ripple control, etc., can solve the problems of high dynamic servo bandwidth, low speed, affecting the control accuracy of servo system, etc., and achieve the effect of improving low-speed position tracking performance
Active Publication Date: 2017-02-08
SHANGHAI SATELLITE ENG INST
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[0003] The payload scanning mirror servo control system is a typical small inertia, low speed, and high precision servo system. The permanent magnet synchronous motor used in it has cogging torque fluctuations, that is, the angular position caused by the motor stator and rotor changes periodically.
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[0017] Hereinafter, preferred embodiments of the present invention are given in conjunction with the drawings to illustrate the technical solutions of the present invention in detail.
[0018] Such as figure 1 As shown, the method for identifying and suppressing ripple torque of a high-precision servo control system of the present invention includes the following steps:
[0019] Step 1: Start with harmonic analysis and establish a mathematical model of the ripple torque of the permanent magnet synchronous motor. The electromagnetic torque contains the sixth-order ripple torque whose frequency is the fundamental frequency;
[0020] Step 2: Simplify the dynamic equation of the control system, and obtain the rotation angle as a function of the ripple torque and the desired rotation angle;
[0021] Step 3: Obtain the frequency characteristic of the ripple torque by measuring the frequency characteristic of the motor current signal;
[0022] Step four: Perform Fourier analysis on the periodi...
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The invention discloses a high precision servo control system ripple moment identification and inhibition method. The high precision servo control system ripple moment identification and inhibition method comprises steps of starting from harmonic wave analysis and establishing a PMSM ripple moment mathematics model, wherein an electromagnetic torque comprises a six-time ripple moment, the frequency of which is fundamental wave frequency; simplifying a control system dynamic equation to obtain a turning angle which is a function of the ripple moment and an expected turning angle; obtaining a frequency characteristic of the ripple torque through measuring a frequency characteristic of a motor current signal; and performing Fourier analysis on a cycle position error, using current compensation to inhibit ripple torque and eliminating periodic interference on a position error which is caused by a high order ripple torque. The high precision servo control system ripple moment identification and inhibition method can perform identification on magnitude of the torque of the ripple moment, uses the characteristic of servo system electric current loop high bandwidth responding to compensate the servo system motor ripple torque, and improves low speed position tracking performance of the system.
Description
technical field [0001] The invention relates to a torque identification and suppression method, in particular to a high-precision servo control system ripple torque identification and suppression method. Background technique [0002] my country's second-generation geostationary meteorological satellite adopts a three-axis stable control strategy. In order to meet the needs of high temporal resolution, high spatial resolution and high spectral resolution remote sensing and telemetry for the monitoring of the earth's atmospheric environment, its The earth disk scans at a constant speed, and puts forward higher requirements for the scanning servo control system, with a bandwidth of not less than 30Hz and a rotation angle control accuracy better than 3". [0003] The payload scanning mirror servo control system is a typical small inertia, low speed, and high precision servo system. The permanent magnet synchronous motor used in it has cogging torque fluctuations, that is, the ang...
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Login to View More IPC IPC(8): H02P6/10
CPCH02P6/10
Inventor 许海玉边志强沈毅力董瑶海吕旺王皓信思博
Owner SHANGHAI SATELLITE ENG INST