Motor, Motor Control System and Its Variable Structure Disturbance Observer

Abstract

The invention relates to a motor, a motor control system and a variable structure disturbance observer thereof, wherein the observer includes: a motor body model module used to obtain the motor rotation angle; an error acquisition module used to obtain the rotation angle error amount; an observation compensation module It includes an integral adjustment branch, a first proportional adjustment branch and a second proportional adjustment branch, which are used to output the first system estimated disturbance, and the first proportional adjustment branch has a first gain coefficient, and the second proportional adjustment branch has The second gain coefficient adjusts the noise sensitivity of the observer by adjusting the first gain coefficient, and adjusts the bandwidth of the observer by adjusting the first gain coefficient and the second gain coefficient; the motor estimation model module is used to obtain the estimated rotation of the motor Angle for disturbance compensation control of the motor. Because the noise sensitivity of the structure can be adjusted, it can effectively avoid the situation that the motor is easy to vibrate due to the sensitivity of the disturbance observer to the 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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