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Velocity loop pi oscillation detection method, device, electronic device and storage medium

A detection method and speed loop technology, which can be used in measurement devices, linear/angular velocity measurement, velocity/acceleration/impact measurement, etc., and can solve the problems of permanent magnet synchronous motor speed oscillation and mechanical arm damage.

Active Publication Date: 2021-04-06
JIHUA LAB
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Problems solved by technology

Under certain operating conditions, excessive PI controller parameters will cause the speed of the permanent magnet synchronous motor to oscillate. If the movement cannot be stopped in time after the oscillation, it may cause damage to the mechanical arm. Therefore, it is necessary to detect the speed of the permanent magnet synchronous motor in real time. Oscillation is necessary
However, the existing servo drives generally do not perform speed loop PI oscillation detection

Method used

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  • Velocity loop pi oscillation detection method, device, electronic device and storage medium
  • Velocity loop pi oscillation detection method, device, electronic device and storage medium
  • Velocity loop pi oscillation detection method, device, electronic device and storage medium

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Embodiment Construction

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0045] It should ...

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Abstract

The invention provides a speed loop PI oscillation detection method, device, electronic equipment and storage medium, by periodically obtaining feedback speed data according to a preset frequency; Measure and output; periodically obtain the observed speed data according to the preset frequency; the observed speed data is obtained by observing the rotational speed of the permanent magnet synchronous motor by a speed observer; calculate each of the feedback speed data and the corresponding observed speed The difference value of the data is obtained to obtain a difference data set; according to the difference data set, it is judged whether there is a speed oscillation fault in the permanent magnet synchronous motor; thus, whether there is a speed oscillation fault in the permanent magnet synchronous motor can be effectively detected.

Description

technical field [0001] The invention relates to the technical field of permanent magnet synchronous motor detection, in particular to a speed loop PI oscillation detection method, device, electronic equipment and storage medium. Background technique [0002] A robotic arm generally has multiple joints, each joint is driven by a permanent magnet synchronous motor, and each permanent magnet synchronous motor is controlled by a servo driver. In the servo control system controlling the permanent magnet synchronous motor, the speed loop usually adopts the PI controller. Under certain operating conditions, excessive PI controller parameters will cause the speed of the permanent magnet synchronous motor to oscillate. If the movement cannot be stopped in time after the oscillation, it may cause damage to the mechanical arm. Therefore, it is necessary to detect the speed of the permanent magnet synchronous motor in real time. Oscillation is necessary. However, the existing servo dr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01R31/34G01P3/00
CPCG01P3/00G01R31/343
Inventor 马青林王宏邓锦祥罗凌云胡荏
Owner JIHUA LAB
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