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A Method of Suppressing Nonlinear Interference of Servo System at Very Low Speed

A servo system and non-linear technology, applied in control systems, vector control systems, control generators, etc., can solve problems such as complex mathematical structures, achieve strong robustness, reduce difficulty, and achieve good dynamic and static performance.

Active Publication Date: 2021-08-06
SUZHOU FURUTA AUTOMATION TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the system model has uncertainty, the mathematical structure of backstepping design will be very complicated

Method used

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  • A Method of Suppressing Nonlinear Interference of Servo System at Very Low Speed
  • A Method of Suppressing Nonlinear Interference of Servo System at Very Low Speed
  • A Method of Suppressing Nonlinear Interference of Servo System at Very Low Speed

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Embodiment Construction

[0091] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0092] A method for suppressing nonlinear interference of a servo system at extremely low speed, specifically implemented according to the following steps:

[0093] Step 1. Establish the mathematical model of the position servo system:

[0094]

[0095] In the formula, θ is the mechanical angle of the permanent magnet synchronous motor; ω is the mechanical angular velocity of the motor; ψ f is the flux linkage of the permanent magnet; p is the number of pole pairs of the motor rotor; R s is the stator winding resistance; u d , u q Respectively d-q axis voltage; i d i q Respectively d-q axis current; L is the motor inductance; J is the moment of inertia of the motor; T e , T L , T f are the electromagnetic torque of the motor, the load torque and the friction torque received; is the position equation; is the speed equation; is...

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Abstract

The invention discloses a method for suppressing non-linear interference of a servo system at very low speed. First, a mathematical model of the position servo system is established, and then a Romberg observer model is established to observe uncertain items in the system, derive a given speed formula, and design Design the position controller, design the speed loop controller, and design the current loop controller by using the backstepping method. The three-phase current of the motor a, b, and c measured by the Hall sensor is transformed into the rotation coordinate system after Clark transformation and Park transformation Two-phase current i q , i d , and the position signal measured by the encoder is fed back to each control loop to form a closed-loop system. This method improves the adaptability of the system to external disturbance torque changes, and has strong robustness and good dynamic and static performance.

Description

technical field [0001] The invention belongs to the field of high-precision positioning of a high-performance servo system at extremely low speed, and in particular relates to a method for suppressing nonlinear interference of a servo system at extremely low speed. Background technique [0002] Servo motors have been widely used in machinery manufacturing, electric vehicles, printing, packaging, textiles, industrial robots, aerospace and other fields due to their advantages such as large starting torque, small inertia, fast response, and high efficiency. [0003] The servo system is a type of system with a very wide range of applications. It is an automatic control system that tracks the input command signal to obtain precise position, speed and power output. Its function is to make the motion state of the controlled object follow the change law of the input quantity. The motion characteristics of the controlled object under the action of the input signal can be expressed by...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/04H02P21/13H02P21/18
CPCH02P21/04H02P21/13H02P21/18
Inventor 尹忠刚靳海旭孙向东刘静钟彦儒
Owner SUZHOU FURUTA AUTOMATION TECH