Motor, motor control system and variable structure disturbance observer thereof

Abstract

The invention relates to a motor, a motor control system and a variable structure disturbance observer thereof. The observer includes a motor body model module, an error acquisition module, an observation compensation module and a motor estimation model module, wherein the motor body model module is used for acquiring the rotation angle of the motor; the error acquisition module is used for acquiring the error amount of the rotation angle; the observation compensation module includes an integral adjustment branch, a first proportional adjustment branch and a second proportional adjustment branch and is used for outputting the first system estimation disturbance quantity, the first proportional adjustment branch has a first gain coefficient, the second proportional adjustment branch has a second gain coefficient, the noise sensitivity of the observer is adjusted through adjusting the first gain coefficient, and the bandwidth of the observer is adjusted through adjusting the first gain coefficient and the second gain coefficient; and the motor estimation model module is used for acquiring the estimated rotation angle of the motor so as to carry out disturbance compensation control onthe motor. The structure is adjustable in noise sensitivity, thereby being capable of effectively avoiding the occurrence of a circumstance that the motor is prone to vibration because the disturbance observer is sensitive to measurement noise.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a motor, a motor control system and a variable structure disturbance observer. Background technique [0002] In the motor control system, the load disturbance is a major factor affecting the motor control performance. Accurately estimating the system disturbance and performing disturbance compensation can greatly reduce the influence of the disturbance on the motor control performance. [0003] In related technologies, the system disturbance is estimated and compensated by adding a disturbance observer in the motor control system. For example, the disturbance observer can be as figure 1 The disturbance observer based on the position signal is shown, but the disturbance observer with this structure is sensitive to the sensor measurement noise, which is easy to amplify the sensor measurement noise, and it is easy to cause motor vibration in engineering applications, which is ...

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Problems solved by technology

[0004] Based on this, it is necessary to provide a motor, a motor control system and a variable structure disturbance observer for the problem that the disturbance observer is sensitive to the sensor measurement noise in the related art and the motor is easy to vibrate.

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