Ultra-low-speed high-precision positioning control method of frameless torque motor

A torque motor and positioning control technology, which is applied in motor generator control, AC motor control, electronic commutation motor control, etc., can solve the problems of unable to suppress torque ripple, large flux compensation error, and large computational complexity. Achieve the effect of large self-disturbance rejection moment, small calculation amount and high positioning accuracy
CN111130409AActive Publication Date: 2020-05-08CHONGQING UNIV
8 Cites 2 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CHONGQING UNIV
Publication Date
2020-05-08

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses an ultra-low-speed high-precision positioning control method of a frameless torque motor. The method mainly comprises the following steps: 1) adjusting the absolute position ofthe motor to zero; 2) calculating a mechanical angle theta<m> which should be rotated by the motor, an electrical angle theta<e> which should be rotated by the motor, a real-time position theta<1eal>of the motor and a real-time rotating speed omega<r> of the motor; 3) adjusting the angle of the rotor to theta<e>; 4) updating the exciting current i<d> according to the feedback rotating speed x<real> of the encoder and the rotating speed fluctuation requirement; and calculating the difference between the given reference value theta<tar> and the feedback value of the encoder to obtain a reference positioning offset, updating the reference value of the target position, and returning to the step 2 until the reference value of the target position is not updated any more. According to the invention, high torque can be maintained under the working condition of ultra-low-speed operation, and the anti-interference capability is excellent.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the field of motor control, in particular to an ultra-low-speed and high-precision positioning control method for a frameless torque motor. Background technique

[0002] At present, there are several classic algorithms for the control of frameless torque motors: 1) vector control algorithm (FOC) with excitation component Id=0; 2) maximum torque current ratio control algorithm (MTPA); 3) direct torque Control algorithm (DTC); 4) Synovial film variable structure control; 5) Field weakening control algorithm; and some intelligent control algorithms: 6) Control algorithm based on nonlinear PID neural network; 7) Chaos control algorithm based on Hamilton model; 8 ) particle swarm optimization fuzzy PID control algorithm, etc.

[0003] Problems with the above algorithms: Algorithm 1 has small self-disturbance rejection torque when running at ultra-low speed (below 0.2RPM), and there will be obvious torque ripple; Torque ripple at l...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More