A Robust Position Control Method for Permanent Magnet Synchronous Motors Considering Current Limiting

Abstract

The invention belongs to the technical field of AC permanent magnet synchronous motor control, and provides a robust position control method for a permanent magnet synchronous motor considering current limiting. This method fully considers the influence of current limiting on the closed-loop system in the theoretical analysis stages such as controller design and stability analysis, and can effectively overcome the influence of system disturbances including system parameter uncertainty and unknown load torque, and finally realize The control target for precise tracking of the motor position. More importantly, this technology is a continuous control method, which can overcome the inherent chattering problem while having the strong robustness of sliding mode control. At the same time, the controller designed by the present invention also has the advantages of simple structure and the like. The excellent anti-interference ability and the simple and easy-to-implement structure feature make the technical solution of the present invention have broad practical application prospects.

Description

technical field [0001] The invention belongs to the technical field of AC permanent magnet synchronous motor control, and more particularly, relates to a system capable of realizing a motor on the basis of effectively overcoming the influence of system disturbances including current limit, unknown load torque and uncertainty of system parameters. Permanent magnet synchronous motor position control technology for 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 aero-engine electric drives. Due to its high efficiency, small size, large torque-to-weight ratio and almost no maintenance, permanent magnet synchronous motors have become an important tool in the field of precision position control. At the same time, the complex nonlinear characteristics, strong coupling characteristics, and...

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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