Torque Ripple Suppression Method 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 external load disturbance and parameter perturbation, and achieve strong robustness weakening and improving. The effect of control performance, improving dynamic response performance and anti-disturbance performance

Active Publication Date: 2019-05-10
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

Method used

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  • Torque Ripple Suppression Method of Permanent Magnet Synchronous Motor Based on Robust Iterative Learning Control
  • Torque Ripple Suppression Method of Permanent Magnet Synchronous Motor Based on Robust Iterative Learning Control
  • Torque Ripple Suppression Method of Permanent Magnet Synchronous Motor Based on Robust Iterative Learning Control

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specific Embodiment approach 1

[0052] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 1. The method for suppressing torque ripple of permanent magnet synchronous motor based on robust iterative learning control described in this embodiment is specifically implemented by the following steps:

[0053] 1. First, the state equation of the permanent magnet synchronous motor speed servo system is established 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), and b is the Knowing the numerical coefficient, r(t) represents the total system disturbance (including system parameter disturbance 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, ...

specific Embodiment approach 2

[0120] Specific embodiment 2. Combination Figure 1 to Figure 15 This embodiment is described, which is a specific example of the method for suppressing torque ripple of permanent magnet synchronous motor based on robust iterative learning control described in Embodiment 1:

[0121] combine figure 1 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 of the three-phase inverter...

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Abstract

The invention discloses a method for suppressing torque ripple of permanent magnet synchronous motors based on robust iterative learning control, and relates to the technical field of speed control of permanent magnet synchronous motors. Aiming at the torque ripple problem of permanent magnet synchronous motor, considering the parameter perturbation and external load disturbance in the servo system, a robust iterative learning controller is designed by combining adaptive sliding mode control and iterative learning control. Iterative learning control, learning the unknown periodic function based on the system state in the system, suppressing the periodic pulsating torque of the system; sliding mode variable structure control, making the system track run along the sliding mode surface, improving the anti-disturbance performance of the system; For the chattering problem of sliding mode control, an adaptive law is designed to estimate the system disturbance, and the estimated value is compensated to the controller, which can effectively weaken the sliding mode chattering while ensuring the robustness of the system. The invention combines the advantages of iterative learning control and sliding mode control to effectively suppress the torque ripple of the permanent magnet synchronous motor while improving the robustness of the system.

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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Patent Type & Authority Patents(China)
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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