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Method for suppressing torque ripple of permanent magnet synchronous motor based on robust iterative learning control

A permanent magnet synchronous motor, iterative learning control technology, applied in the direction of controlling generators, controlling electromechanical brakes, controlling electromechanical transmissions, etc., can solve problems such as parameter perturbation and external load disturbance, and achieve strong robustness weakening and improving. Control performance and effect of suppressing torque ripple

Active Publication Date: 2017-08-18
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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  • Claims
  • Application Information

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Problems solved by technology

[0007] The present invention aims at the problem of torque ripple of permanent magnet synchronous motor, and simultaneously considers the problem of parameter perturbation and external load disturbance in the servo system, and provides a method for suppressing torque ripple of permanent magnet synchronous motor based on robust iterative learning control

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  • Method for suppressing torque ripple of permanent magnet synchronous motor based on robust iterative learning control
  • Method for suppressing torque ripple of permanent magnet synchronous motor based on robust iterative learning control
  • Method for suppressing torque ripple of permanent magnet synchronous motor based on robust iterative learning control

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specific Embodiment approach 1

[0052] Specific Embodiments 1. The method for suppressing torque ripple of permanent magnet synchronous motors based on robust iterative learning control described in this embodiment is specifically implemented by the following steps:

[0053] 1. First, establish the state equation of the permanent magnet synchronous motor speed servo system as follows:

[0054]

[0055] In the formula, x(t) is the system state variable, u(t) is the control input, y(t) is the system output, f(x,t) is the unknown periodic function of the state variable x(t), b is the known The numerical coefficient is known, r(t) represents the total disturbance of the system (including system parameter perturbation and external load disturbance), and B(x,t) is the known friction torque function.

[0056] 2. Design a Robust Iterative Learning Controller

[0057] The velocity tracking error is:

[0058] e(t)=ω ref (t)-ω m (t)(2)

[0059] where ω ref (t) is the given speed signal, ω m (t) is the feedbac...

specific Embodiment approach 2

[0120] Specific embodiment two, combine Figure 1 to Figure 15 This embodiment is described. This embodiment is a specific embodiment of the method for suppressing torque ripple of a permanent magnet synchronous motor based on robust iterative learning control described in the first embodiment:

[0121] to combine figure 1 To describe this embodiment, figure 1It is a structural block diagram of the permanent magnet synchronous motor speed servo system based on robust iterative learning control, which consists of permanent magnet synchronous motor, three-phase inverter, space voltage vector pulse width modulation (SVPWM), position sensor, robust iterative learning control Controller (speed controller), current PI controller, coordinate transformation module. The robust iterative learning controller generates the q-axis current given value, the current PI controller generates the control voltage, and the SVPWM control strategy is used to control the on-off of the power device ...

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Abstract

The invention discloses a method for suppressing the torque ripple of a permanent magnet synchronous motor (PMSM) based on robust iterative learning control and relates to the technical field of PMSM rotational speed control. In view of the torque ripple of the PMSM and the parameter perturbation and the external load disturbance in a servo system, a robust iterative learning controller is designed by combining adaptive sliding mode control with iterative learning control. The iterative learning control learns an unknown periodic function based on a system state in the system to suppress the system periodic pulsating torque. The sliding mode variable structure control enables a system trajectory to operate along a sliding mode surface to improve the anti-disturbance performance of the system. In view of a sliding mode control buffeting problem, an adaptive law is designed to estimate system disturbance and compensate an estimated value to the controller, thereby weakening sliding-mode buffeting while guaranteeing system robustness. The method, in combination with the advantages of the iterative learning control and the sliding mode control, suppresses the torque ripple of the PMSM while improving the system robustness.

Description

technical field [0001] The invention relates to the technical field of speed control of permanent magnet synchronous motors, in particular to a method for suppressing torque ripple of permanent magnet synchronous motors based on robust iterative learning control. Background technique [0002] In recent years, the permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM) has been widely used in different fields such as robots, high-precision CNC machine tools, photoelectric turntables, and aerospace because of its simple structure, reliable operation, high efficiency, and good speed regulation performance. widely used. However, the existence of periodic torque ripple caused by factors such as cogging torque, flux harmonics, and current detection errors affects the application of permanent magnet synchronous motors in high-precision control applications. Torque pulsation will further cause periodic speed pulsation, resulting in mechanical vibration and noi...

Claims

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Application Information

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IPC IPC(8): H02P21/05H02P21/00
CPCH02P21/0007H02P21/0017H02P21/05
Inventor 邓永停李洪文刘京
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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