Anti-load disturbance control method based on load torque observer for unmanned vehicle

Abstract

The invention discloses an unmanned vehicle anti-load disturbance control method based on a load torque observer, and the method comprises the following steps: S1, the load torque observer: considering the time-varying characteristics of the load torque, designing a novel load torque observer based on UKF filtering by employing the principles of UKF filtering and a maximum posteriori estimator Sage-Husa, and obtaining the load torque observer based on the UKF filtering; the observed value of the load torque is used as feed-forward compensation; s2, speed compensation: taking a load torque observation value as feed-forward compensation of a control system, and compensating the influence of load disturbance on the system by improving the output capability of the motor load torque; and S3, simulation test: based on the analysis and design, verifying the effectiveness of the PMSM anti-load disturbance control strategy based on the load torque observer. According to the anti-load disturbance control method based on the load torque observer for the unmanned vehicle, the stability and the anti-interference performance of the unmanned vehicle when the load torque is changed are improved, and the problems that the unmanned vehicle shakes and the rotating speed of the motor is not coordinated are solved.

Description

technical field [0001] The invention relates to the technical field of anti-load of unmanned vehicles, in particular to an anti-load disturbance control method based on a load torque observer for unmanned vehicles. Background technique [0002] Permanent magnet synchronous motors have become the first choice for high-performance speed control systems due to their stable current, low noise, small torque ripple, large torque / inertia ratio, and high efficiency. In the AC servo control system, how to realize the high-precision identification of PMSM speed and rotor position without speed sensor has always been one of the research hotspots. The traditional rotor information is obtained by mechanical sensors, but it will lead to the decline of system stability and high system cost, which makes the control system without position sensor become the mainstream of research. [0003] A high-performance AC servo system not only needs to have agile speed response ability, but also needs...

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Problems solved by technology

[0007] Aiming at the deficiencies of the prior art, the present invention provides an anti-load disturbance control method based on a load torque observer for unmanned vehicles, which solves the problem of instantaneous motor load caused by loading and unloading goods when the four-wheel drive steering unmanned transport vehicle is running. Changes lead to sudden changes in motor speed, low stability and high anti-interference performance of unmanned guided vehicles when the load torque changes, sudden changes in loads cause unmanned guided vehicles to be unstable, unmanned guided vehicles shake and the technical problems of uncoordinated motor speed

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