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Stepping motor load torque estimation method

A stepping motor, load torque technology, applied in the direction of motor generator control, electrical components, control systems, etc., can solve problems such as inconvenient maintenance, limited installation conditions, and greater impact on instrument accuracy

Active Publication Date: 2017-02-08
CHANGZHOU DINGS ELECTRICAL & MECHANICAL
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AI Technical Summary

Problems solved by technology

The cost of direct measurement of load torque through physical sensors is high, and it is greatly affected by the accuracy of the instrument. In some occasions, it is easy to be limited by installation conditions and inconvenient to maintain.

Method used

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  • Stepping motor load torque estimation method
  • Stepping motor load torque estimation method
  • Stepping motor load torque estimation method

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Embodiment Construction

[0046] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0047] A method for estimating the load torque of a stepper motor involved in the present invention is mainly composed of three parts: an extended Kalman filter, an objective function and a particle swarm algorithm, and its structure diagram is as follows figure 1 shown. The extended Kalman filter is based on the measured value y of the system at each time k , input value u k and the selected filter parameter values, the posterior estimation of the system state is obtained by updating iterations According to the current objective function value and filter parameter value at each moment, the particle swarm algorithm is used to optimize the filter parameters Q and R, and the correction value is used as the input parameter of the extended Kalman filter for parameter estimation until the optimized state estimation value is obtained

[0048] ...

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Abstract

The invention discloses a hybrid stepping motor load torque estimation method. A stepping motor model inputting periodic rectangular wave voltage is established for aiming at the characteristic that stepping motor control signals are discontinuous, and the stepping motor load torque acts as one of the state variable of the model; the stepping motor load torque estimation value is iteratively calculated by using an extended Kalman filter so that the problems of high cost and fault and complex instruction due to the fact that the load torque is directly measured by using a physical sensor can be solved, and a new method is provided for measurement of the stepping motor load torque measurement; and a particle swarm algorithm is introduced in the extended Kalman filter for the problems that a system noise covariance matrix and a measurement noise covariance matrix are difficult to select in the extended Kalman filter to perform online adjustment and optimization on the system noise matrix and the measurement noise matrix through the particle swarm algorithm so that system noise and measurement noise are enabled to be closer to real noise, and thus the more accurate stepping motor load torque estimation value can be obtained.

Description

technical field [0001] The invention relates to the field of motor control, in particular to a load torque estimation method of a hybrid stepping motor. Background technique [0002] The magnitude of the motor load torque can be obtained through physical sensor measurement or software algorithm estimation. The cost of direct measurement of load torque through physical sensors is high, and it is greatly affected by the accuracy of the instrument. In some occasions, it is easy to be limited by installation conditions and inconvenient for maintenance. Estimate the size of the load torque through the software algorithm, which has the advantages of reducing the cost and facilitating the installation of the motor. Therefore, the use of software algorithms to realize the virtual sensor research on the estimation of the load torque has become an important research direction of modern transmission control technology, and the Kalman filter is an important method to estimate the load ...

Claims

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Application Information

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IPC IPC(8): H02P8/14
CPCH02P8/14
Inventor 盛朝强谢昭莉邹永畅江浙邬晓月刘奕杰
Owner CHANGZHOU DINGS ELECTRICAL & MECHANICAL
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