Two-step speed prediction control system and method for permanent magnet synchronous linear motor
A permanent magnet synchronous linear and speed prediction technology, which is applied in the control system, vector control system, motor generator control, etc., can solve the problems of control delay, periodic control delay, delay, etc., achieve accurate speed control results, and improve resolution rate, reducing the effect of delay
Active Publication Date: 2021-01-15
XI AN JIAOTONG UNIV
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Problems solved by technology
The motor speed feedback is obtained by the differentiation of the position feedback, and the differentiation process will aggravate the noise of the position measurement
If the average sampling method is used to reduce sampling noise, it will bring periodic control delays
Traditional control methods often ignore this part of the control delay time, and the feedback delay caused by mean value sampling cannot be ignored in occasions with high dynamic characteristics requirements
[0003] When the motor displacement is converted to speed, in order to reduce the measurement noise, it is usually used to average the displacement by multi-point sampling, and then perform differentiation to obtain the speed, but this will bring control delay
see figure 1 , taking the speed conversion from 16KHz displacement sampling to 4KHz as an example, at time k, the speed calculated based on the average value of 5 points of high-frequency sampling is equivalent to the time k-1 of low-frequency sampling, so that the speed fed back to the system at time k is The actual v(k-1), delayed by a speed loop control cycle T v
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[0034] see figure 2 , the present invention provides a two-step speed prediction control system for a permanent magnet synchronous linear motor, including a two-step speed prediction controller, a d-phase current comparator, a d-phase current controller, a q-phase current comparator, and a q-phase current controller , dq-αβ coordinate voltage conversion unit, SVPWM controller, inverter, motor body, abc-αβ coordinate current conversion unit, αβ-dq coordinate current conversion unit, high-frequency sampling unit (the sampling frequency is equal to 16KHz, that is, the sampling period T s Equal to 1 / 16000 second as an example), 5-point displacement mean module, low-frequency sampling unit (sampling frequency is equal to 4KHz, that is, the sampling period T v Equal to 1 / 4000 second as an example), differential module, integrator and Kalman filter.
[0035] A two-step velocity predictive controller is used to receive a reference velocity v ref , the optimal estimated feedback sp...
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The invention discloses a two-step speed prediction control system and method for a permanent magnet synchronous linear motor. The two-step speed prediction control system comprises a two-step speed prediction controller, a high-frequency sampling unit, a five-point displacement mean value module, a low-frequency sampling unit and a Kalman filter, wherein the five-point displacement mean value module is used for reducing sampling noise and generating delay of a speed loop control period; the Kalman filter is used for obtaining the optimal estimated disturbance force and the optimal estimated motor speed and feeding back the optimal estimated disturbance force and the optimal estimated motor speed to the two-step speed prediction controller. The two-step speed prediction controller obtainsa driving force instruction and converts the driving force instruction into a current instruction through a motor constant to serve as a reference value of q-phase current control. According to the permanent magnet synchronous linear motor two-step speed prediction control method based on mean value sampling, speed periodic delay caused by a displacement mean value sampling and differential speedsolving method is more comprehensively considered, and the anti-interference performance, speed control accuracy and speed tracking performance of a permanent magnet synchronous linear motor control system are improved.
Description
technical field [0001] The invention belongs to the technical field of permanent magnet synchronous linear motor control, and in particular relates to a two-step speed prediction control system and method for permanent magnet synchronous linear motors. Background technique [0002] Permanent magnet synchronous linear motors are widely used in advanced manufacturing industries with high speed, high precision and high response. The motor speed feedback is obtained by the differentiation of the position feedback, and the process of differentiation will aggravate the noise of the position measurement. If the average value sampling method is used to reduce the sampling noise, it will bring periodic control delay. Traditional control methods often ignore this part of the control delay time, and the feedback delay caused by mean value sampling cannot be ignored in occasions with high dynamic characteristic requirements. [0003] When the motor displacement is converted to speed, ...
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Login to View More IPC IPC(8): H02P25/064H02P21/00H02P21/13
CPCH02P21/0003H02P21/13H02P25/064
Inventor孙铮董卓博赵飞许睦旬梅雪松
OwnerXI AN JIAOTONG UNIV