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Design Method of Fractional-order PID Sliding Mode Observer Applicable to Magnetic Levitation Spherical Motor

A sliding mode observer, spherical motor technology, used in the control of generators, motor generator control, control of electromechanical brakes, etc.

Active Publication Date: 2021-03-09
NORTHEASTERN UNIV LIAONING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The sliding mode observer method (SMO) is favored for its strong robustness, simple calculation, and ease of engineering application and digital realization, but it has low-speed chattering problems

Method used

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  • Design Method of Fractional-order PID Sliding Mode Observer Applicable to Magnetic Levitation Spherical Motor
  • Design Method of Fractional-order PID Sliding Mode Observer Applicable to Magnetic Levitation Spherical Motor
  • Design Method of Fractional-order PID Sliding Mode Observer Applicable to Magnetic Levitation Spherical Motor

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Embodiment Construction

[0079] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0080] Magnetic levitation spherical motor such as figure 1 As shown, 1 is the rotating shaft of the rotor, which is driven by the spherical rotor 3, the radial winding 6 and the torque winding 5 are embedded on the stator together, providing torque and radial suspension force at the same time, and a protective device supporting piece 7 is added at the bottom of the stator When the motor stops, the supporting plate has the effect of buffering the rotor from falling. The axial winding 8 provides axial suspension force, so that there is no contact and friction between the rotor and the stator 4 .

[0081] In this embodiment, the mathematical model of the sliding mode obser...

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Abstract

The invention provides a fractional-order PID sliding mode observer design method suitable for a magnetic levitation spherical motor, and relates to the technical field of position sensors. This method first collects the three-phase current and three-phase voltage values ​​of the magnetic levitation spherical motor, and then constructs the mathematical model of the sliding mode observer; uses the constructed sliding mode observer mathematical model to calculate the back electromotive force of the magnetic levitation spherical motor in the two-phase stationary coordinate system and the stator current estimated value; at the same time, the error of the stator current estimated value is used as the sliding mode surface to construct the switching function of the sliding mode observer, and the Prelu function is used as the switching function of the sliding mode observer; then the fractional order PID is used to control the sliding mode observer The parameters of the sliding mode gain in the switching function are adjusted and tuned; and the estimated value of the real rotor electrical angle and electrical angular velocity is obtained from the calculated back electromotive force. The method of the invention effectively suppresses chattering of the sliding mode observer of the magnetic levitation spherical motor, and can design a stable sliding mode observer.

Description

technical field [0001] The invention relates to the field of position sensorless technology, in particular to a design method of a fractional-order PID sliding mode observer suitable for a magnetic levitation spherical motor. Background technique [0002] In recent years, with the development of science and technology, the degree of social industrialization is getting higher and higher, and the motor, as a supporting machine that converts mechanical energy and electrical energy, is subject to more and more stringent requirements. Traditional mechanical bearing motors are no longer suitable for some occasions that require high speed, high precision and low loss. When the traditional motor is running at high speed, the friction between the mechanical bearing and the shaft will have a large resistance, which will cause vibration, wear and noise, which will cause the motor to heat up, greatly reduce the service life, and increase maintenance costs. [0003] The magnetic suspens...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/00H02P21/13H02P21/18
CPCH02P21/13H02P25/02H02P21/18
Inventor 杨东升熊浩杰马占超肖军周博文孙维东高筱婷王昕
Owner NORTHEASTERN UNIV LIAONING