A motor control method and device based on filter error

A technology of filtering error and motor control, applied in motor generator control, control of electromechanical transmission, electronic commutation motor control, etc., can solve problems such as limited encoder resolution, poor dynamic speed regulation performance, and motor low-speed jitter. , to achieve the effect of improving dynamic performance, reducing overshoot and improving fit

Active Publication Date: 2021-01-15
江门市蒙德电气股份有限公司
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Problems solved by technology

[0004] In addition, because the speed range of the servo motor is large, and the resolution of the encoder is limited, it is necessary to add a filter link to achieve high-precision low-speed control
However, if only the feedback speed is filtered, the performance of dynamic speed regulation will be deteriorated
If a ramp command input signal whose acceleration time is the same as the speed filter time constant is input, after passing through the PID controller, the overshoot can reach 50%, causing the motor to vibrate seriously at low speed

Method used

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  • A motor control method and device based on filter error
  • A motor control method and device based on filter error
  • A motor control method and device based on filter error

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[0040] The following will clearly and completely describe the conception, specific structure and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention.

[0041] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. In addition, descriptions such as up, down, left, and right used in the present disclosure are only relative to the mutual positional relationship of the components of the present disclosure in the drawings. As used in this disclosure, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. Moreover, unless otherwise defined, all technical and scientific terms us...

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Abstract

The invention relates to a motor control method and device based on filtering error, wherein, the method comprises the following steps: S21, subjecting the motor feedback speed to first-order speed filtering , and subjecting the command speed to first-order speed filtering; S22, performing a difference operation between the original command speed and the first-order filtered command speed, and summing the result of the difference operation with the first-order filtered motor feedback speed to obtain a summing speed; S23, performing a difference operation between the summing speed and the original command speed, and then transmitting the operation result to the speed loop PID processing module. The apparatus includes a memory, a processor, and a microcomputer program stored on the memory and capable of running on the processor, which performs the method described above when the processor executes the program.

Description

technical field [0001] The invention relates to a motor control method and device based on filtering errors, belonging to the field of motor electrical control. Background technique [0002] Today's closed-loop automatic control techniques are based on feedback to reduce uncertainty. The elements of feedback theory consist of three parts: measure, compare, and perform. The key to measure is the actual value of the controlled variable, compare it with the expected value, use this deviation to correct the response of the system, and perform regulatory control. In engineering practice, the most widely used PID controller (proportional-integral-derivative controller) is composed of proportional unit P, integral unit I and differential unit D. The basis of PID control is proportional control; integral control can eliminate steady-state error, but may increase overshoot; differential control can speed up the response speed of large inertia system and weaken the overshoot tendenc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/18H02P21/05
CPCH02P21/05H02P21/18
Inventor 李德良
Owner 江门市蒙德电气股份有限公司
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