Nonsingular self-adaption non-smooth position tracking control method for permanent magnet synchronous motor

Abstract

The invention discloses a nonsingular self-adaption non-smooth position tracking control method for a permanent magnet synchronous motor. The method comprises the following steps of: presetting a given position track of a rotor of the permanent magnet synchronous motor; obtaining the current corner position of the rotor of the permanent magnet synchronous motor and the current rotor rotating speedof the rotor of the permanent magnet synchronous motor; calculating out a rotating speed error and a regression vector; obtaining a non-smooth control item according to the rotating speed error; obtaining a self-adaption parameter estimation value according to the regression vector and the rotating speed error; obtaining control motor current according to the obtained non-smooth control item, theobtained self-adaption parameter estimation value and the obtained regression vector; sending the control motor current to the permanent magnet synchronous motor. According to the nonsingular self-adaption non-smooth position tracking control method disclosed by the invention, non-smooth control and nonsingular self-adaption control are combined, so that quickness and disturbance rejection ability of position tracking are improved; furthermore, by means of controller structure improvement, the singular problem caused by the non-smooth control is eliminated; while dynamic and static quality oftracking control position tracking is improved, practicability of a controller is improved.

Description

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AI Technical Summary

Benefits of technology

This patented technology allows for combining both smoothness and adaptiveness controls with an improved design that can overcome issues such as singularity or instabilities during operation. By analyzing data obtained form sensors attached to the machine's rotor shaft, this algorithm predicts errors on future positions based on their previous measurements, which helps prevent disturbances and maintain stable performance over time. Additionally, it estimates new values when there has been changes made due to factors like temperature fluctuations or load variations. These techniques help optimize the overall performance of the machine without causing any disruptions even if they may be temporary. Overall, these technical improvements enhances the functionality and effectiveness of the magnetically driven servomotor servo systems used in industrial applications.

Problems solved by technology

This patented technical problem addressed in this patent relates to improving the accuracy and efficiency of controlling an alternatorless machine (ACM) system for robot applications like robotic arms or machining tools. Current techniques involve adjustments made manually based upon object properties and external factors affecting motion dynamics. These manual corrections can be slow and may result in errors during operation. Therefore there needs improvement over these conventional approaches without sacrificing precision.

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