Motor control method and system based on known parameters

A motor control and parameter technology, applied in the control system, motor control, AC motor control and other directions, can solve the problems of complex identification process of friction torque compensation of unknown parameter model, avoid limit cycle oscillation, strong anti-interference ability, guaranteed speed The effect of stability

Pending Publication Date: 2019-12-03
HUNAN AEROSPACE ELECTROMECHANICAL EQUIP & SPECIAL MATERIAL INST
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Problems solved by technology

[0004] In view of the fact that non-model friction torque compensation is prone to limit cycle oscillation in the prior art, and the friction torque compensation identification process of the unknown parameter model is complicated and unsuitable for practical application, the present invention provides a motor control method and system based on a LuGre friction model with known parameters, Compensate the actual friction torque, improve the dynamic and static characteristics of the servo motor control system, have strong anti-interference ability, and ensure the speed stability and positioning accuracy of the servo motor control system under low-speed non-linear friction conditions

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  • Motor control method and system based on known parameters
  • Motor control method and system based on known parameters
  • Motor control method and system based on known parameters

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[0031] The technical solutions in the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0032] like figure 1 As shown, a motor control method based on known parameters provided by the present invention includes the following steps:

[0033] 1. When the friction parameters are known, the LuGre model is used to construct the friction model of the servo motor control system.

[0034] The differential equation is used to represent the servo motor control system, and the specific expression is as follows:

[0035]

[0036] In formula (1), J is the moment of iner...

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Abstract

The invention discloses a motor control method and system based on known parameters and relates to the technical field of motor control. The motor control method is characterized in that a dynamic friction coefficient and a static friction parameter of an indexing mechanism bearing are obtained through measurement estimation or manufacturers, a friction model of a servo motor control system is constructed by adopting a LuGre model, the real-time speed of an indexing mechanism is acquired, the real-time speed is converted into a friction torque estimated value through the friction model. The method is advantaged in that the actual friction torque of the servo motor control system is compensated, the dynamic and static characteristics of the servo motor control system are improved, the anti-interference capability is strong, the speed stability and positioning precision of the servo motor control system under the low-speed nonlinear friction condition are ensured, and a phenomenon of limit ring oscillation is avoided.

Description

technical field [0001] The invention belongs to the technical field of motor control, and in particular relates to a motor control method and system based on a LuGre friction model with known parameters. Background technique [0002] The three-self laser inertial group product servo motor control system realizes the strapdown inertial group online self-calibration, self-alignment, and self-test functions by controlling the rotation of the inertial group product indexing mechanism. [0003] When the three-self laser inertial group product performs the three-self function, its servo motor control system is in a state of low-speed operation. At this time, the speed input signal of the servo motor control system is small, and the interference effect is large, causing the indexing mechanism to vibrate, which will cause servo The motor control system is servo controlled with dither frequency, which affects calibration and alignment accuracy. The disturbance of the servo motor con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/00H02P23/14H02P29/00
CPCH02P23/0004H02P23/14H02P29/00
Inventor 曹振兴汪莉霞冯维李圆伟
Owner HUNAN AEROSPACE ELECTROMECHANICAL EQUIP & SPECIAL MATERIAL INST
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