Permanent magnet synchronous motor force-position hybrid control system based on load torque estimation

Abstract

The invention discloses a permanent magnet synchronous motor force-position hybrid control system based on load torque estimation. Comprising a force PI controller, a position control current given calculation module, a multi-target particle swarm algorithm module, a current PI controller, an IPark conversion module, a space vector pulse width modulation (SVPWM) module, a three-phase inverter, a permanent magnet synchronous motor (PMSM), an encoder, a Clarke conversion module, a Park conversion module, a load torque estimation module, a deriver, a multiplier and first to fifth subtracters. The invention further discloses a method for controlling the permanent magnet synchronous motor through the control system, compared with a traditional control structure, force control and position control can be simply, effectively and simultaneously achieved, the load torque is estimated through a load torque algorithm, and force-position hybrid control is achieved through a simpler algorithm and lower cost.

Description

technical field [0001] The invention relates to the field of motor control, in particular to a permanent magnet synchronous motor force-position hybrid control system based on load torque estimation. Background technique [0002] Permanent magnet AC servo systems with permanent magnet synchronous motors as actuators are widely used in manufacturing, medical facilities, and defense and military fields. Among them, its control methods are mainly divided into vector control and direct torque control. Vector control technology has the advantages of high precision, high dynamic response and wide speed regulation range, and is generally suitable for occasions with high requirements for control accuracy. However, the current control structure of the permanent magnet synchronous motor vector control technology is a three-loop series structure of position, speed and current. The position loop is the outermost loop, when the position control is performed, the force control cannot be ...

AI Technical Summary

Problems solved by technology

The position ring is the outermost ring, when the position control is performed, the force control cannot be performed

The force control is realized through the current loop of the inner ring, when the force control is performed, the position control cannot be performed

Therefore, a single motor cannot meet the applications that require force control and position control at the same time

In this regard, the existing force-position hybrid control solutions often require coordinated control of multiple permanent magnet synchronous motors at the same time to achieve force control in a certain plane and position control in another plane, but this greatly increases the Reduce the algorithm complexity and application cost, reduce the timeliness and accuracy of control

Moreover, the load torque of the force closed-loop control is usually realized by the torque sensor, which further increases the application cost

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