Brushless direct current motor servo system position correlation periodic signal tracking control method

Abstract

The invention discloses a brushless direct current motor servo system position correlation periodic signal tracking control method comprising the following steps: S1, building a brushless direct current motor state space model according to a voltage balance equation and a torque balance equation; s2, analyzing the internal relation between the time domain and the position domain of the system, and decomposing the original tracking control problem of the nonlinear brushless direct current motor servo system into a position domain repetitive control problem of a linear time-invariant system and a time domain robust stabilization control problem of a nonlinear system; s3, constructing a position domain internal model of the periodic signal according to the position related periodic characteristics of the reference input signal, and establishing an improved position domain repetitive controller; s4, constructing an extended state observer according to the brushless direct current motor state space model, and performing real-time estimation on an unmeasurable state and equivalent total disturbance of the system; and S5, establishing a digital implementation method of the position domain repetitive controller by using an amplitude sampling function of the position-related periodic reference input signal.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a tracking control method for a position-related periodic signal of a brushless DC motor servo system. Background technique [0002] Brushless DC motors are widely used in industrial process control, aerospace, robotics and other fields due to their reliable operation, simple structure, and good speed regulation performance. In practical applications, the brushless DC motor needs to perform high-precision tracking control of the position-related periodic reference signal. For example, in the non-circular CNC turning system, the tool driven by the motor performs linear reciprocating motion in the vertical direction of the workpiece turntable spindle. When the rotation speed of the turntable is not constant, the tool feed relative to the rotation position of the turntable is a signal that changes periodically. As we all know, the repetitive control based on the internal mode...

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Problems solved by technology

In addition, the ideal position domain repetition controller cannot stabilize a strictly regular plant, these problems limit the practical application of the method

[0005] In addition, the research work mentioned above only considered the problem of tracking and / or suppressing a position-dependent periodic signal for a linear time-invariant system

According to the Bode integral theorem, it can be seen that the sensitivity of the position domain repetition controller at the fundamental frequency and harmonics of the position-related periodic signal is reduced to zero to achieve superior periodic performance, but at the cost of the increase in the sensitivity of the position domain repetition controller in other frequency bands, As a result, the repeated control system in the position domain is more sensitive to the aperiodic uncertainty

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