Position Tracking Control Method of Permanent Magnet Synchronous Motor Based on Normalized Projection Operator

Abstract

The invention provides a normalization projection operator-based position tracking control method of a permanent-magnet synchronous motor. The normalization projection operator-based position trackingcontrol method comprises the steps of pre-setting given position track information of a rotor, wherein the given position track information comprises a given rotational angle position, a given rotational speed and given acceleration; acquiring a current corner position and a current rotational speed of the rotor; calculating a rotational speed error between the given rotational speed and the current rotational speed according to the given corner position, the given rotational speed, the current corner position and the current rotational speed; obtaining a regress vector according to the givencorner position, the given rotational speed, the current corner position and the current rotational speed; acquiring a non-smooth control item according to the rotational speed error; calculating anestimation value of a parameter part according to the rotational speed error and the regression vector and by combining a normalization processing method; and obtaining a control current according tothe non-smooth control item, the estimation value of the parameter part and the regression vector. By the method, the problem that the adaptive law gain is difficult to adjust is solved, the convergence rate of the adaptive law is improved, and the singular problem of the controller is eliminated.

Description

technical field [0001] The invention relates to the field of permanent magnet synchronous motors, in particular to a position tracking control method for permanent magnet synchronous motors based on a normalized projection operator. Background technique [0002] With the development of the field of permanent magnet synchronous motors, many high-quality position tracking control methods of permanent magnet synchronous motors have also been produced. At present, the main control methods are as follows: one is to use the traditional adaptive control method to design the controller to Eliminate the influence of parameter uncertainty when the permanent magnet synchronous motor is working, but this method has limited performance in the convergence speed of the rotor track tracking error of the permanent magnet synchronous motor and the suppression of external disturbances; the second is to use the sliding mode variable structure control method Design a sliding mode controller to t...

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Problems solved by technology

[0002] With the development of the field of permanent magnet synchronous motors, many high-quality position tracking control methods of permanent magnet synchronous motors have also been produced. At present, the main control methods are as follows: one is to use the traditional adaptive control method to design the controller to Eliminate the influence of parameter uncertainty when the permanent magnet synchronous motor is working, but this method has limited performance in the convergence speed of the rotor track tracking error of the permanent magnet synchronous motor and the suppression of external disturbances; the second is to use the sliding mode variable structure control method Design a sliding mode controller to track and control the permanent magnet synchronous motor, such as a dynamic surface-based adaptive sliding mode control method for permanent magnet synchronous motors with application number 201810265096.2, which can make the system state correspond to parameters on the sliding mode surface It is invariant to perturbation and external disturbance, and has the advantages of no need for system online identification parameters and simple physical realization, but there is chattering problem in practical application, which increases the difficulty of engineering application; the third is through limited time control methods to track and control permanent magnet synchronous motors, such as a surface-mounted permanent magnet synchronous motor rotor position detection method with patent application number 201710434828. Strong anti-disturbance ability, but not adaptive to load changes, so its control quality is greatly affected by the load

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