Position and speed estimation method and device for PMLSM servo control system

A servo control system, speed estimation technology, applied in the direction of control system, vector control system, control electromechanical transmission device, etc., can solve the problems of inaccurate estimated value, resistance easily affected by temperature changes, etc.

Inactive Publication Date: 2017-11-24
CHINA JILIANG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the extended Kalman filter method is more sensitive to changes in motor parameters, while the resistance of PMLSM is easily affected by temperature changes when it is running at low speed, and there is a problem that the estimated value of

Method used

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  • Position and speed estimation method and device for PMLSM servo control system
  • Position and speed estimation method and device for PMLSM servo control system
  • Position and speed estimation method and device for PMLSM servo control system

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Embodiment 1

[0090] Embodiment 1 of the present invention provides a method for estimating position and speed of a PMLSM servo control system, figure 1 It is a schematic flow chart of a PMLSM servo control system position and speed estimation method of the present invention, comprising the following steps:

[0091] Step S11, adding the winding resistance factor to the state variable of the PMLSM servo control system.

[0092] Specifically, the above steps include: adding a resistance component x=[i α i β v x R] T ;

[0093] Obtain the state space model of the PMLSM servo control system as:

[0094]

[0095] Among them, ω(t) and σ(t) are the process noise and measurement noise included respectively, and the nonlinear matrix is:

[0096]

[0097] The input matrix B of the system is:

[0098] The output matrix H of the system is:

[0099] iα and i β is the phase current in the α-β coordinate system; u α and u β is the phase voltage in the α-β coordinate system; R is the ...

Embodiment 2

[0164] Embodiment 3 of the present invention provides a PMLSM servo control system position and speed estimation device, see Figure 6 The schematic structural diagram of the position and speed estimation device of the PMLSM servo control system shown includes: a resistance factor addition module 100 , a discrete linearization module 200 and an estimation module 300 .

[0165] Resistance factor adding module 100, for adding winding resistance factor in the state variable of PMLSM servo control system;

[0166] Discrete linearization module 200, for the discrete linearization model that the state equation of PMLSM servo control system is carried out discrete linearization to obtain;

[0167] The estimating module 300 is used for estimating the position and velocity by the extended Kalman filter method according to the discrete linearization model.

[0168] Further, the resistance factor adding module 100 is also used for:

[0169] Add resistance component x=[i to the system s...

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Abstract

The invention provides a position and speed estimation method and a position and speed estimation device for a PMLSM servo control system, which relate to the technical field of motor control. The position and speed estimation method comprises the steps of: adding a winding resistance factor into a state variable of the PMLSM servo control system; subjecting a state equation of the PMLSM servo control system to disperse linearization so as to obtain a disperse linearization model; and estimating a position and a speed by adopting an extended Kalman filtering method according to the disperse linearization model. According to the position and speed estimation method and the position and speed estimation device, the winding resistance factor is added into the state variable to form the state augmented extended Kalman filtering method (AEKF), the position and speed of a mover of a PMLSM are estimated, and the influence on resistance parameters of temperature changes when a linear motor operates at a low speed can be reduced, thereby improving the estimation precision of the algorithm.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a method and device for estimating the position and speed of a PMLSM servo control system. Background technique [0002] In the permanent magnet linear synchronous motor servo control system, it is necessary to perform vector transformation according to the angle of the motor magnetic pole to determine the control signal of the SVPWM (Space Vector Pulse Width Modulation) module, so as to realize vector control; on the other hand, in order to In order to achieve a high-precision, fast-response PMLSM (Permanent magnetlinear synchronous motor, permanent magnet linear synchronous motor) servo control system, it is also necessary to obtain real-time feedback values ​​of the mover position and speed to form a closed-loop control. Therefore, in the sensorless servo control system of the permanent magnet linear synchronous motor, how to obtain the real-time signal of the position a...

Claims

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Application Information

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IPC IPC(8): H02P21/18
CPCH02P21/18
Inventor 王桂荣迟宝全高雁凤
Owner CHINA JILIANG UNIV
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