Method for sliding mode servo control based on segmented permanent magnet synchronous motor

Abstract

Provided is a method for sliding mode servo control based on a segmented permanent magnet synchronous motor. At present, a permanent magnet synchronous motor servo system is widely controlled by a vector control mode and a PID regulator. The PID regulator has disadvantages of being susceptible to parameter changes, and poor adaptability to load changes, and weak anti-interference ability. The method comprises the following steps: step 1, establishing a mathematical model of the permanent magnet synchronous motor system; step 2, designing a sliding mode vector controller for the permanent magnet synchronous motor, (1) designing a sliding mode rotating speed controller, and (2) designing a sliding mode position controller; step 3, designing a trapezoidal velocity model control method, designing a trapezoidal segmented rotating speed model, selecting the number of speed data of an acceleration segment and a deceleration segment according to controller's calculation ability and actual required accuracy, and extracting the speed data from an array in corresponding time to a speed given variable, to realize trapezoidal speed change. The method is applied to a method for sliding mode servo control based on a segmented permanent magnet synchronous motor.

Description

Technical field: [0001] The invention relates to a sliding mode servo control method based on a segmented permanent magnet synchronous motor. Background technique: [0002] At present, in the fields of CNC machine tools, laser processing, robots, large-scale integrated circuit manufacturing, radar and weapon servo systems, flexible manufacturing systems, electric tools and household appliances, servo control systems play a pillar role, and research on high-performance servo control technology , especially the most promising permanent magnet synchronous motor servo control technology, has important practical significance and practical value. At present, the permanent magnet synchronous motor servo system is widely used in the vector control mode and PID regulator for control, and the PID regulator has vulnerable parameters. Change influence, poor adaptability to load changes, weak anti-interference ability and other shortcomings; while the servo system is vulnerable to proble...

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Problems solved by technology

[0002] At present, in the fields of CNC machine tools, laser processing, robots, large-scale integrated circuit manufacturing, radar and weapon servo systems, flexible manufacturing systems, electric tools and household appliances, servo control systems play a pillar role, and research on high-performance servo control technology , especially the most promising permanent magnet synchronous motor servo control technology, has important practical significance and practical value. At present, the permanent magnet synchronous motor servo system is widely used in the vector control mode and PID regulator for control, and the PID regulator has vulnerable parameters. Change influence, poor adaptability to load changes, weak anti-interference ability and other shortcomings; while the servo system is easily affected by problems such as friction, vibration, and load mutation caused by mechanical transmission mechanisms during operation

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