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Cogging torque compensation method of permanent magnet synchronous servo motor

A technology of cogging torque and servo motors, which is applied in the control of generators, motor generators, electronically commutated motors, etc., can solve the problems of low accuracy of discrete table lookup, heavy burden of precise modeling and calculation, and achieve Compensation speed is fast, the output pulsation is reduced, and the effect is good

Pending Publication Date: 2021-12-21
HARBIN INST OF TECH
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problems of the existing cogging torque compensation method, the heavy burden of accurate modeling calculation and the low accuracy of discrete table lookup, and propose a permanent magnet synchronous servo motor cogging torque compensation method

Method used

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  • Cogging torque compensation method of permanent magnet synchronous servo motor
  • Cogging torque compensation method of permanent magnet synchronous servo motor
  • Cogging torque compensation method of permanent magnet synchronous servo motor

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specific Embodiment approach 1

[0054] Specific implementation mode one: combine Figure 1 to Figure 4 Describe this embodiment, a permanent magnet synchronous servo motor cogging torque compensation method described in this embodiment, the compensation method includes the following steps:

[0055] Step 1. Collect the cogging torque data of the permanent magnet synchronous servo motor, obtain accurate cogging torque data, and establish an accurate cogging torque lookup table;

[0056] Step 2. Based on the precise cogging torque lookup table established in step 1, perform feed-forward control on the cogging torque of the permanent magnet synchronous servo motor to realize compensation for the cogging torque of the permanent magnet synchronous servo motor.

[0057] In this embodiment, the specific steps for establishing an accurate cogging torque lookup table in step 1 are:

[0058] Step 11, permanent magnet synchronous servo motor position calibration; used to obtain the initial position of the permanent mag...

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Abstract

The invention discloses a cogging torque compensation method of a permanent magnet synchronous servo motor, relates to a cogging torque compensation technology of the permanent magnet synchronous servo motor, and aims to solve the problems of heavy accurate modeling operation burden and low discrete table lookup accuracy in the existing cogging torque compensation method. The cogging torque compensation method comprises the following steps of: acquiring data of cogging torque of the permanent magnet synchronous servo motor to obtain accurate cogging torque data, and establishing an accurate cogging torque lookup table; and performing feedforward control on the cogging torque of the permanent magnet synchronous servo motor based on the cogging torque accurate lookup table to realize compensation of the cogging torque of the permanent magnet synchronous servo motor. The cogging torque compensation method has the advantages that a precise permanent magnet synchronous servo motor mathematical model is not needed, a large amount of cogging torque data is calculated, and the problem that the cogging torque data obtained through an existing lookup table method is poor in precision can be solved.

Description

technical field [0001] The invention relates to a technology for compensating cogging torque of a permanent magnet synchronous servo motor. Background technique [0002] Permanent magnet synchronous servo motors have the advantages of small size, simple structure, high power density, and high reliability, and are widely used in aerospace, industrial and agricultural production, and various fields of daily life; in industrial automation equipment, medical micro-operation robots, aerospace vehicles, etc All industries need to achieve high-precision control of permanent magnet synchronous servo motors. [0003] Torque ripple is one of the main factors affecting the high-precision control of permanent magnet synchronous servo motors. It will not only bring mechanical vibration and electromagnetic noise, but also affect the performance of the controller, thereby reducing the control accuracy and stability of high-precision equipment. This greatly limits the application of perman...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/14H02P21/22
CPCH02P21/14H02P21/22
Inventor 孙维超刘欢锂林伟阳高会军
Owner HARBIN INST OF TECH
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