Ripple torque identification and suppression method for high precision servo control system

Abstract

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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Problems solved by technology

[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. The torque fluctuation is the ripple torque, which affects the control accuracy of the servo system. The conventional PID control method is limited by the gain and bandwidth, and it is not easy to directly achieve high dynamic servo bandwidth, and the ability to suppress periodic disturbances is poor.

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