A Motor Vector Composite Controller Based on Armature Model Independent Feedforward Compensation
A composite controller, feedforward compensator technology, applied in motor generator control, electronic commutation motor control, motor control and other directions, to achieve the effects of stable operation, wide speed regulation range, and reduced gain
Active Publication Date: 2021-12-07
TSINGHUA UNIV
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Problems solved by technology
For motor systems driven by non-sinusoidal waves, this method has certain limitations
In addition, since all the feed-forward compensations of the above methods are designed in the dq plane, it is impossible to perform independent lead-lag compensation on the feed-forward control quantities of each phase through zero-pole configuration
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[0021] The present invention will be further described below using the accompanying drawings and embodiments. The accompanying drawings described here are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute a limitation to the present invention.
[0022] This embodiment takes a three-phase permanent magnet synchronous motor as an example, including three phases U, V, and W, and the phase difference between any two phases is 120°. The rotary transformer is used as the rotor position sensor, and the angular velocity of the rotor is obtained at the same time. Three-phase stator currents are measured with integrated conductor Hall effect sensors. Speed given signal ω * Timed transmission to the controller by the external digital bus. The controller adopts the TMS320C28x of Texas Instruments (TI) TM A series of digital signal processing chips, which contain a timing interrupt source, and control ...
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The invention relates to a motor vector composite controller based on armature model independent feedforward compensation, which is characterized in that it contains: a position sensor, a speed measurement feedback link, a back EMF feedforward compensator, an armature feedforward compensator, A speed closed-loop controller, a quadrature-axis current closed-loop controller, a direct-axis current closed-loop controller and a vector converter. The invention performs decoupling compound control under the dq coordinates, has a wide range of speed regulation, and avoids the phase shift caused by the limited bandwidth of the controller in the closed-loop control structure of the phase current. The composite control structure is adopted to improve the dynamic characteristics and the gain margin of the system at the same time. The independent feed-forward compensator for each phase has a simple structure, and the required parameters can be obtained by direct measurement; the introduced back-EMF waveform generator and phase current waveform generator can be flexibly designed according to requirements, and have a wide range of applications; the introduction of the lead-lag link can be The pole-zero point can be flexibly configured to realize the phase-independent adjustment of the feed-forward compensation amount of each phase.
Description
technical field [0001] The invention belongs to the technical field of motor control, and relates to a motor vector composite control method based on armature model independent feedforward control. This method is suitable for the control of high-precision electric servo system in aerospace, industrial production and military equipment. Background technique [0002] The current vector control method used in the high-precision electromechanical servo system needs to accurately detect the rotor position angle θ and the stator current of each phase in real time, and realize the direct-axis current i by establishing the dq-axis mathematical model of the motor. d and quadrature current i q decoupling control. The commonly used current closed-loop vector control has two basic structures: the current control based on the stator reference frame and the current control based on the rotor reference frame. [0003] The current control structure based on the stator reference coordinat...
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IPC IPC(8): H02P21/22
CPCH02P2205/01H02P21/22
Inventor 和阳朱纪洪杨佳利
Owner TSINGHUA UNIV