Permanent magnet synchronous motor robust position control method considering current amplitude limiting

Abstract

The invention belongs to the technical field of AC permanent magnet synchronous motor control, and provides a permanent magnet synchronous motor robust position control method considering current amplitude limiting. According to the method, the influence of current amplitude limiting on a closed-loop system is fully considered in theoretical analysis stages such as controller design and stability analysis, the influence of system interference including system parameter uncertainty and unknown load torque can be effectively eliminated, and finally the control target of accurate tracking of the motor position is achieved. More importantly, the technology is a continuous control method, and can solve the inherent buffeting problem while having the strong robustness of sliding mode control. Meanwhile, the controller designed by the invention also has the advantages of simple structure and the like. Due to the structural characteristics of excellent anti-interference capability and simplicity and easiness in implementation, the method provided by the invention has a wide practical application prospect.

Description

technical field [0001] The invention belongs to the technical field of AC permanent magnet synchronous motor control, and more specifically relates to a motor that can effectively overcome the influence of system interference including current limit, unknown load torque and system parameter uncertainty. Position control technology of permanent magnet synchronous motor with precise position tracking. Background technique [0002] Precision position control is becoming increasingly important in numerous applications such as assembly robots, semiconductor production machinery, high-resolution CNC machine tools, and aeroengine electric drives. Due to its high efficiency, small size, large torque-to-weight ratio, and almost no maintenance, permanent magnet synchronous motors have become important tools in the field of precision position control. At the same time, complex nonlinear characteristics, strong coupling characteristics, and the existence of internal and external distur...

AI Technical Summary

Problems solved by technology

[0006] 2) The internal and external disturbances of the system, including the uncertainty of system parameters and the influence of unknown load torque, are always one of the biggest technical difficulties that plague the control of permanent magnet synchronous motors

Specifically, in actual industrial applications, on the one hand, due to the influence of factors such as changes in the working environment, there is often a certain deviation between the actual value of the permanent magnet synchronous motor system parameters and its nominal value, which will lead to many The control performance of the algorithm is greatly reduced

On the other hand, in many practical working conditions, the load torque of the permanent magnet synchronous motor system is often unknown and changing, which will obviously affect the position control and speed tracking performance of the permanent magnet synchronous motor

An effective method to deal with the influence of system disturbance is the sliding mode control algorithm, which has the advantages of strong robustness and fast dynamic response, but it is essentially a discontinuous control algorithm, and the discontinuous switch contained in its controller function term will cause chattering of the system

The chattering problem is the biggest obstacle in the practical application of sliding mode control. The existence of chattering will deteriorate the dynamic performance and static indicators of the system, and at the same time increase the mechanical loss and energy consumption of the system. In more serious cases, high-frequency chattering It is also possible to excite unmodeled dynamics of the system, severely damage the stability of the system, and even cause the control system to fail to operate normally

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