Anti-interference torque method for direct drive control of permanent magnet synchronous motor and electronic equipment

Abstract

The application discloses a permanent magnet synchronous motor direct drive control anti-interference torque method and electronic equipment, a control model without interference torque is established according to a vector control algorithm, when no interference torque is introduced, a current loop, a speed loop simulation model and a control flow are established, parameters of the current loop and the speed loop are adjusted, time domain waveforms are similar to simulation, and the purpose of permanent magnet synchronous motor direct drive is achieved. An interference source is introduced, an interference torque signal flow is established, an anti-interference torque simulation model is established on the basis of the interference torque, a transfer function of the anti-interference torque is derived, the purpose of permanent magnet synchronous motor direct drive control anti-interference torque is achieved, and the permanent magnet synchronous motor direct drive control anti-interference torque method is realized in a general electronic equipment.

Description

Technical Field

[0001] This invention belongs to the field of permanent magnet synchronous motor control technology, and specifically relates to an anti-interference torque method and electronic equipment for direct drive control of permanent magnet synchronous motors. Background Technology

[0002] In high-precision, high-stability direct drive control systems for spaceborne multi-dimensional turntables, slip rings cannot be used due to reliability concerns. Therefore, a large number of cables are used in conjunction with the load, thermal control system, and permanent magnet synchronous motor. Furthermore, most of these exposed cables in space require shielding to prevent failure under the combined effects of high and low temperatures, strong radiation, and gravity. However, shielding makes the cables exceptionally rigid, thick, and heavy. During multi-dimensional rotation of the load, multiple cable bundles rotate together, generating interference torques on the load. The nonlinear interference from these heavy cables on the moving mechanism is significant, causing oscillations at specific locations during multi-axis motion. These interference torques are dynamically and nonlinearly changing, severely impacting operational accuracy. Therefore, a method for overcoming these dynamic variations in interference torques based on direct drive control of permanent magnet synchronous motors is needed. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide an anti-interference torque method and electronic equipment for direct drive control of permanent magnet synchronous motors. It is suitable for all products with anti-interference torque for direct drive control of permanent magnet synchronous motors. That is, by measuring the Q-axis current, the cable interference torque and the change of interference torque during multi-axis movement can be obtained, and a drive controller with high suppression capability of interference torque can be obtained, thereby achieving the high precision and high stability technical requirements of engineering models.

[0004] To achieve the above objectives, the present invention proposes to implement them through the following technical solutions:

[0005] This invention discloses an anti-interference torque method for direct drive control of a permanent magnet synchronous motor, comprising:

[0006] Step S1: Establish a disturbance-free torque control model based on the vector control algorithm;

[0007] Step S2: Simulate the disturbance-free torque control model to obtain the disturbance-free simulation results;

[0008] Step S3: Calculate the speed error between the interference-free simulation result and the actual test result, and determine whether the maximum speed error is less than M1. If not, adjust the current loop and speed loop parameters and repeat step S2; if yes, proceed to step S4.

[0009] Step S4: Establish the interference source model and load the interference source model onto the non-interference torque control model to obtain the interference torque control model;

[0010] Step S5: Simulate the control model with disturbance torque to obtain the simulation results with disturbance;

[0011] Step S6: Calculate the maximum speed error between the simulation result with disturbance and the simulation result without disturbance in step S2, and determine whether the maximum speed error is less than M2. If not, adjust the torque control model with disturbance and repeat step S5; if yes, the torque control model with disturbance is obtained, and the process ends.

[0012] In the above-mentioned disturbance torque method, in step S1, a disturbance-free torque control model is established based on the vector control algorithm. The specific method is as follows:

[0013] Establish the current loop transfer function;

[0014] Based on the current loop transfer function, the velocity loop PDFF transfer function is obtained as follows:

[0015]

[0016] In the formula, w f (s) represents the complex frequency domain angular velocity feedback; k FVR k is the angular velocity feedforward gain. VP For the velocity loop ratio; k VI For the velocity loop integral; w C (s) represents the complex frequency domain angular velocity command; J represents the total moment of inertia; k T This is the motor torque constant.

[0017] In the above-mentioned method for handling disturbance torque, the establishment of the current loop transfer function specifically refers to:

[0018]

[0019] In the formula, I F (s) represents the complex frequency domain q-axis current feedback; k IP For the current loop ratio; k II For the current loop integral; I C (s) represents the complex frequency domain q-axis current command; L p For motor phase inductance; u DC R is the center voltage of the inverter bus. s Motor phase resistance r p and sampling resistor r s sum.

[0020] In the above-mentioned interference torque method, in step S3, M1 is 20 to 40 codewords.

[0021] In the above-mentioned interference torque method, in step S6, M2 is 400 to 550 codewords.

[0022] In the above-mentioned interference torque method, step S4, establishing the interference source model, specifically involves:

[0023]

[0024] In the formula, ω F For the measured angular velocity, T D Let J be the disturbance torque, J be the total inertia of the mechanical components and the motor, and k be the torque. VP For the velocity loop ratio, k VI For the velocity loop integral, K T This is the motor torque constant.

[0025] In the above-mentioned disturbance torque method, the step of loading the disturbance source model onto the non-disturbance torque control model to obtain the disturbance torque control model specifically involves:

[0026]

[0027] In the formula, T D To combine the disturbance torque, ω F K is the angular velocity obtained by the angle sensor. T Let K be the torque constant of the motor, J be the total moment of inertia of the mechanical and motor rotors, and K be the torque constant of the motor. DD For the gain of the feedforward branch of the disturbance torque; K VP K is the speed loop ratio. VI This is the integral of the velocity loop.

[0028] In the above-mentioned disturbance torque method, the velocity loop ratio K VP =12~20.

[0029] In the above-mentioned disturbance torque method, the velocity loop integral K VI =40~60.

[0030] An electronic device, characterized in that it includes a processor, a memory, and a communication bus, wherein the processor and the memory communicate with each other via the communication bus; the memory is used to store programs;

[0031] The processor is used to process:

[0032] Step S1: Establish a disturbance-free torque control model based on the vector control algorithm;

[0033] Step S2: Simulate the disturbance-free torque control model to obtain the disturbance-free simulation results;

[0034] Step S3: Calculate the speed error between the interference-free simulation result and the actual test result, and determine whether the maximum speed error is less than M1. If not, adjust the current loop and speed loop parameters and repeat step S2; if yes, proceed to step S4.

[0035] Step S4: Establish the interference source model and load the interference source model onto the non-interference torque control model to obtain the interference torque control model;

[0036] Step S5: Simulate the control model with disturbance torque to obtain the simulation results with disturbance;

[0037] Step S6: Calculate the maximum speed error between the simulation result with disturbance and the simulation result without disturbance in step S2, and determine whether the maximum speed error is less than M2. If not, adjust the torque control model with disturbance and repeat step S5; if yes, the torque control model with disturbance is obtained, and the process ends.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] (1) The present invention adopts an anti-interference torque method for direct drive control of permanent magnet synchronous motor. Through the technical solution of establishing and pre-simulating the interference torque control model and transfer function, the accurate prediction and control of the interference torque is realized.

[0040] (2) This invention achieves a rapid suppression effect of interference torque by replacing the interference transfer function with a second-order low-pass filter;

[0041] (3) The anti-interference method adopted in this invention can overcome the interference torque of the external dynamic changes, and ensure that the multi-dimensional mechanism can solve the problem of the dynamic changes of interference torque caused by cables, multi-axis drive coupling and temperature changes, which prevents the mechanism from operating normally and stably. Thus, the mechanism can operate normally with high precision and high stability, and achieve the same control effect as under no interference torque. Attached Figure Description

[0042] Figure 1 This is the current loop signal flow diagram of the present invention without the introduction of interference torque;

[0043] Figure 2 This is a flowchart of the current loop signal after adjustment in the case of no introduced interference torque according to the present invention;

[0044] Figure 3 This is the current loop frequency domain waveform diagram of the present invention without the introduction of interference torque;

[0045] Figure 4 This is a flowchart of the velocity loop PDFF correction signal of the present invention without the introduction of interference torque;

[0046] Figure 5This is a time-domain simulation waveform diagram of the velocity loop PDFF of the input trapezoidal wave without introducing interference torque according to the present invention;

[0047] Figure 6 This is a time-domain simulation waveform diagram of the velocity loop PDFF of the input square wave without introducing interference torque according to the present invention;

[0048] Figure 7 This is a frequency domain simulation waveform of the velocity loop PDFF of the present invention without the introduction of interference torque;

[0049] Figure 8 This is the actual operating result of the current loop of the present invention without the introduction of interference torque;

[0050] Figure 9 This invention provides a speed feedback trapezoidal waveform during actual operation without the introduction of interference torque.

[0051] Figure 10 This invention provides the speed feedback square wave waveform under actual operation without the introduction of interference torque.

[0052] Figure 11 This is the interference torque signal flow diagram of the present invention;

[0053] Figure 12 This is the speed loop operation after the introduction of interference in this invention (Experiment 1);

[0054] Figure 13 This is the speed loop operation after the introduction of interference in this invention (Experiment 2);

[0055] Figure 14 This is the anti-interference torque signal flow diagram of the present invention;

[0056] Figure 15 This is the actual result of installing a cable and adding an interference suppression branch according to the present invention;

[0057] Figure 16 This is the actual result of installing cables and adding interference suppression branches according to the present invention;

[0058] Figure 17 This is a structural block diagram of an electronic device according to the present invention;

[0059] Figure 18 This is a flowchart of the present invention. Detailed Implementation

[0060] The following is in conjunction with the appendix Figures 1 to 18 The present invention provides a detailed description of the anti-interference torque method for direct drive control of a permanent magnet synchronous motor proposed in this invention, along with specific implementation methods.

[0061] The advantages and features of the present invention will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, intended only to facilitate and clearly illustrate the embodiments of the present invention. To make the objectives, features, and advantages of the present invention more apparent and understandable, please refer to the accompanying drawings. The structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to aid those skilled in the art in understanding and reading the content disclosed in the specification. They are not intended to limit the implementation conditions of the present invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the present invention, should still fall within the scope of the technical content disclosed in the present invention.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] like Figure 18 As shown, this invention discloses an anti-interference torque method for direct drive control of a permanent magnet synchronous motor, comprising:

[0064] Step S1: Establish a disturbance-free torque control model based on the vector control algorithm;

[0065] Step S2: Simulate the disturbance-free torque control model to obtain the disturbance-free simulation results;

[0066] Step S3: Calculate the speed error between the interference-free simulation result and the actual test result, and determine whether the maximum speed error is less than M1. If not, adjust the current loop and speed loop parameters and repeat step S2; if yes, proceed to step 4. M1 is the speed error peak value when the speed loop adopts trapezoidal acceleration mode, which is considered to have met the simulation requirements. At this time, focus on the speed error in the constant speed segment, which is the actual index of the control system. M1 is 20-40 codewords.

[0067] Step S4: Establish the interference source model and load the interference source model onto the non-interference torque control model to obtain the interference torque control model;

[0068] Step S5: Simulate the control model with disturbance torque to obtain the simulation results with disturbance;

[0069] Step S6: Calculate the maximum speed error between the simulation result with disturbance and the simulation result without disturbance in step S2. Determine if the maximum speed error is less than M2. If not, adjust the disturbance torque control model and repeat step S5. If yes, the disturbance torque control model is obtained, and the process ends. M2 is the speed error peak when the speed loop adopts step mode, which is close to 500 code words. At this time, it is considered that the simulation requirements have been met. The speed error in the uniform speed segment is the actual index of the control system. M2 is 400-550 code words.

[0070] In step S1, a disturbance-free torque control model is established based on the vector control algorithm. The specific current loop transfer function is as follows:

[0071] The current loop transfer function is established as follows:

[0072]

[0073] Among them, I F (s) is the complex frequency domain q-axis current feedback, k IP For the current loop ratio, k II For the current loop integral, I C (s) represents the complex frequency domain q-axis current command, L p The motor phase inductance is 23.5 mH, u DC The inverter bus center voltage is 15.5V, R S Motor phase resistance r p The sum of the sampling resistors is 7.3Ω, and the motor phase resistance r p =7Ω, sampling resistor r s =0.3Ω. When Equation 1 takes the following values:

[0074] K IP =8;K II =300; u DC =15.5V;

[0075] The transfer function in Equation 1 can be normalized:

[0076]

[0077]

[0078]

[0079] Velocity loop PDFF transfer function:

[0080]

[0081] In the formula: w f (s) represents the complex frequency domain angular velocity feedback; k FVR k is the angular velocity feedforward gain. VP For the velocity loop ratio; k VI For the velocity loop integral; w C (s) represents the complex frequency domain angular velocity command; J represents the total moment of inertia; k T This is the motor torque constant.

[0082] Establish an interference source model, specifically its transfer function:

[0083]

[0084] In the formula, ω m Let ω be the mechanical angular velocity. F For the measured angular velocity, ω C For mechanical angular velocity command, T m For mechanical torque, T E T is the electromagnetic torque of the motor. D Let J be the disturbance torque, J be the total inertia of the mechanical components and the motor, and k be the torque. VP For the velocity loop ratio, k VI For the velocity loop integral, K T The torque constant of the motor. Speed ​​loop ratio K VP =12~20, velocity loop integral K VI =40~60.

[0085] Combining equation 4, we can deduce:

[0086]

[0087] By loading the disturbance source model onto the disturbance-free torque control model, the disturbance-inducing torque control model is obtained, specifically: Torque feedforward branch: G D (s) is a low-pass filter with a bandwidth of approximately 1200Hz. When deriving its transfer function, it is represented by a unity gain of "1". Furthermore, the current loop is also equivalent to a low-pass filter, and its transfer function is as follows:

[0088]

[0089] Set speed command ω C =0; G D (s) = 1; pseudo-moment coefficient K set =Motor torque coefficient K T ;

[0090]

[0091] I C For current loop current command, IF For current loop current feedback;

[0092] Among them, G D (s) is the transfer function of the low-pass filter in the feedforward branch, T E For electromagnetic torque, T D For the combined disturbance torque caused by wires and friction, ω F K is the angular velocity obtained by the angle sensor. T Let J be the torque constant of the motor, and K be the total moment of inertia of the mechanical and motor rotors. DD For the gain of the feedforward branch of the disturbance torque, K VP K is the speed loop ratio. VI This is the integral of the velocity loop.

[0093] This invention enhances the ability to rapidly suppress disturbance torques without affecting the stability margin of the control system; it does not affect the stability margin of the control system, especially the amplitude margin; although the disturbance torque exhibits nonlinearity with angle, its repeatability is good, so the angle-based disturbance torque envelope can be obtained by averaging multiple times in software; the results are tabulated and stored in the program, thus saving program resources and computation time overhead of the low-pass filter; it greatly increases the rapid response to disturbance torques and can obtain satisfactory results.

[0094] This invention discloses an electronic device, including a processor 301, a memory 303, and a communication bus 304, wherein the processor 301 and the memory 303 communicate with each other through the communication bus 304; the memory 303 is used to store programs.

[0095] Processor 301 is used to process:

[0096] Step S1: Establish a disturbance-free torque control model based on the vector control algorithm;

[0097] Step S2: Simulate the disturbance-free torque control model to obtain the disturbance-free simulation results;

[0098] Step S3: Calculate the speed error between the interference-free simulation result and the actual test result, and determine whether the maximum speed error is less than M1. If not, adjust the current loop and speed loop parameters and repeat step S2; if yes, proceed to step 4; M1 is 20 to 40 codewords.

[0099] Step S4: Establish the interference source model and load the interference source model onto the non-interference torque control model to obtain the interference torque control model;

[0100] Step S5: Simulate the control model with disturbance torque to obtain the simulation results with disturbance;

[0101] Step S6: Calculate the maximum speed error between the interference simulation result and the interference-free simulation result in step S2, and determine whether the maximum speed error is less than M2. If not, adjust the interference torque control model and repeat step S5; if yes, the interference torque control model is obtained, and the process ends. M2 is 400-550 codewords.

[0102] The communication bus 304 can be a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 304 can be divided into an address bus, a data bus, and a control bus. This general-purpose electronic device can achieve rapid suppression of interference torque in the direct drive control of permanent magnet synchronous motors.

[0103] Example

[0104] This embodiment presents a preferred example of an anti-interference torque method for direct drive control of a permanent magnet synchronous motor, combined with... Figures 1 to 18 Explanation:

[0105] like Figures 1-3 As shown, the present invention provides an anti-interference torque method for direct drive control of a permanent magnet synchronous motor. This method requires first establishing simulation models of the current loop and speed loop, and the control flow, based on a vector control algorithm, without introducing interference torque. Specifically, the motor armature winding consists of inductance and resistance, thus possessing a complex impedance L. s +R form. When a voltage is applied to the motor armature to generate an excitation current, it behaves as a first-order inertial element with one negative real pole. Its time constant τ is determined by LR and is typically tens of milliseconds. The response of this element to a step current command is a slow ramp-up process, requiring 3τ to 5τ to reach a steady-state value. To improve the response speed (bandwidth), limit the current limit, and suppress current fluctuations caused by DC power supply fluctuations, a current correction element needs to be introduced.

[0106] The current correction stage employs a typical proportional-integral (PI) control circuit, with current command I... c With current feedback I F The difference is the error signal, which is applied to the motor armature after PI correction. Based on the motor's "Y" connection, line resistance and inductance, and PI parameters, the current transfer function is derived. A signal flow diagram is drawn, a mathematical model is established, and the transfer function is tuned according to the signal flow to obtain its standard form. The signal flow graph is then reconstructed in MATLAB to obtain the appended result. Figure 3 As shown, its -3dB bandwidth is above 800Hz; the phase is -42°.

[0107] like Figures 4-7 As shown, the current loop is replaced by a low-pass filter with a bandwidth of 800Hz. A flow chart of the speed loop signal is established. The speed loop uses pseudo-differential PI control, abbreviated as "PDFF". Empirically, the bandwidth of the speed loop is much lower than that of the current loop, typically around 20Hz. Therefore, to simplify the analysis, the current loop is equivalent to a unity gain "1", resulting in the speed loop transfer function, which represents a second-order system. The time-domain waveforms of the speed loop are obtained. From the frequency domain, it can be seen that the -3dB bandwidth of the speed loop is 22.6Hz, with a phase lag of approximately 23.3 degrees. The transfer function is as follows:

[0108]

[0109] b1 = K VP ·K VFR ·K T / J b0=K VP ·K VI ·K T / J

[0110] a1=K VP ·K T / Ja0=K VP ·K VI ·K T / J

[0111] Where, ω m (s) Mechanical angular velocity feedback, ω C (s) Mechanical angular velocity command, K T Motor torque constant, K VP Speed ​​loop ratio, K VI Velocity loop integral, K VFR Angular velocity feedforward gain, J total moment of inertia;

[0112] After standardization, it becomes a second-order system: a1 standardization denominator coefficient 1, b1 standardization numerator coefficient 1, a0 standardization denominator coefficient 2, b0 standardization numerator coefficient 2.

[0113] Its possible values ​​are:

[0114] K VP =12; K VI =40; K VFR =0.65;

[0115] K≈1N·m / Amp; J=0.024kg·m 2 ;

[0116] b1 = K VP ·K VFR ·K T / J=325; b0=K VP ·KVI ·K T / J = 20000;

[0117] a1=K VP ·K T / J=500; a0=K VP ·K VI ·K T / J = 20000;

[0118] Substituting the above parameters into the simulation model, we can obtain the time-domain waveform and the frequency-domain waveform.

[0119] like Figures 8-10 As shown, this invention provides an anti-interference torque method for direct drive control of a permanent magnet synchronous motor. First, based on a vector control algorithm, the actual tracking curve is obtained without introducing interference torque. The parameters of the current loop and speed loop are adjusted to make the time-domain waveform similar to the simulation. After adjustment, the waveform and speed error of the speed loop are obtained, achieving the purpose of direct drive of the permanent magnet synchronous motor. The speed feedback and speed error curves are consistent with the simulation.

[0120] like Figures 11-13 As shown, this invention discloses an anti-interference torque method for direct drive control of a permanent magnet synchronous motor. It introduces an interference source and establishes an interference torque signal flow. The multi-dimensional mechanism, except for the angle sensor and motor cables, does not install any other cables to minimize additional uncertain interference torque. The multi-dimensional mechanism is equipped with all necessary cables, and the parameters are not adjusted. The waveform of the speed loop can be obtained, which may be accompanied by a "whistling" sound. Figures 12-13 It is evident that the speed feedback exhibits numerous "cloud-like" high-frequency noise patterns. These "cloud-like" patterns almost repeatedly appear, due to the nonlinearity of the cable interference torque. Spectral analysis of the speed feedback "cloud-like" waveform reveals significant high-frequency interference. Therefore, it is essential to simultaneously measure two variables (θ). f i sq After multiple samplings, the average value of the Q-axis current based on the angle is obtained. The average value (θ) obtained from multiple measurements is then used to calculate the average value. f i sq Create a table, add it to the control system, and then run the speed loop to obtain the speed feedback waveform. You can see that the waveform has improved significantly, and the previous "whistling" sound from the motor has been eliminated.

[0121] like Figure 14 , Figure 15 , Figure 16As shown, this invention provides an anti-interference torque method for direct drive control of a permanent magnet synchronous motor. An anti-interference torque simulation model is established, and the transfer function of the anti-interference torque is derived. In a practical system, the method achieves the goal of anti-interference torque in direct drive control of a permanent magnet synchronous motor. A low-frequency filter is designed and added to the control system. After running the speed loop, the speed feedback waveform is obtained, and the "cloudy" pattern is basically eliminated, with no "whistling." This indicates that the effect of this filter is equivalent to the previous Q-axis current table. A fast suppression channel is added to the above-mentioned interference torque transfer function; after adding the suppression channel, a new interference torque transfer function is obtained; a second-order IIR digital low-pass filter (LPF) is designed to replace it. The bandwidth of this filter is approximately 1200Hz, which is much larger than the current loop bandwidth of 800Hz.

[0122] Therefore, the anti-interference torque method for direct drive control of permanent magnet synchronous motor provided by the present invention can overcome the dynamic changes of interference torque caused by external factors, thereby ensuring that the multi-dimensional mechanism can still achieve stable operation despite the interference torque changes caused by cables and other factors.

[0123] like Figure 17 As shown, this invention discloses an anti-interference torque method for direct drive control of a permanent magnet synchronous motor. This method utilizes an electronic device to implement the anti-interference torque method described above. The electronic device includes a processor 301 and a memory 303, with the memory 303 storing a computer program. The electronic device provided in this embodiment can rapidly suppress interference torque based on direct drive control of a permanent magnet synchronous motor, solving the problem of unstable operation caused by dynamic changes in interference torque due to cables, multi-axis drive coupling, and temperature variations. This ensures that the mechanism can still operate normally with high precision and high stability.

[0124] like Figure 17 As shown, the electronic device also includes a communication interface 302 and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other via the communication bus 304. The communication bus 304 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 304 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface 302 is used for communication between the aforementioned electronic device and other devices.

[0125] In the anti-interference torque method for direct drive control of a permanent magnet synchronous motor according to the present invention, computer program code for performing the operations of this embodiment can be written in one or more programming languages ​​or a combination thereof. The programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0126] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram / flowchart, and combinations of blocks in block diagrams / flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0127] In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0128] In summary, this invention provides an anti-interference torque method for direct drive control of permanent magnet synchronous motors, which can achieve rapid suppression of interference torque, solve the problem that traditional drive control cannot operate normally and stably due to dynamic changes in interference torque, and thus ensure that the motion mechanism can still achieve high precision and high stability operation under harsh working conditions such as interference torque.

[0129] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Under the guidance of the present invention, others can make similar designs or modifications to the present invention, as well as equivalent substitutions for certain components. It should be particularly noted that all obvious changes and similar designs with equivalent substitutions are included within the scope of protection of the present invention, as long as they do not depart from the spirit of the invention. After reading the above, various modifications and substitutions to the present invention will be obvious to those skilled in the art. Therefore, the scope of protection of the present invention should be defined by the appended claims.

[0130] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A method for anti-interference torque control of a permanent magnet synchronous motor via direct drive, characterized in that, include: Step S1: Establish a disturbance-free torque control model based on the vector control algorithm; Step S2: Simulate the disturbance-free torque control model to obtain the disturbance-free simulation results; Step S3: Calculate the speed error between the interference-free simulation result and the actual test result, and determine whether the maximum speed error is less than M1. If not, adjust the current loop and speed loop parameters, and repeat step S2. If so, proceed to step S4; Step S4: Establish the interference source model and load the interference source model onto the non-interference torque control model to obtain the interference torque control model; Step S5: Simulate the control model with disturbance torque to obtain the simulation results with disturbance; Step S6: Calculate the maximum speed error between the simulation result with disturbance and the simulation result without disturbance in step S2, and determine whether the maximum speed error is less than M2. If not, adjust the torque control model with disturbance and repeat step S5; if yes, the torque control model with disturbance is obtained, and the process ends. In step S1, a disturbance-free torque control model is established based on a vector control algorithm. The specific method is as follows: Establish the current loop transfer function; Based on the current loop transfer function, the velocity loop PDFF transfer function is obtained as follows: In the formula, w f (s) represents the complex frequency domain angular velocity feedback; k FVR k is the angular velocity feedforward gain. VP For the velocity loop ratio; k VI For the velocity loop integral; w C (s) represents the complex frequency domain angular velocity command; J is the total moment of inertia; k T The torque constant of the motor; The process of loading the interference source model onto the non-interference torque control model to obtain the interference torque control model is as follows: In the formula, T D To combine the disturbance torque, ω F K is the angular velocity obtained by the angle sensor. T Let K be the torque constant of the motor, J be the total moment of inertia of the mechanical and motor rotors, and K be the torque constant of the motor. DD For the gain of the feedforward branch of the disturbance torque; K VP K is the speed loop ratio. VI This is the integral of the velocity loop.

2. The anti-interference torque method for direct drive control of a permanent magnet synchronous motor according to claim 1, characterized in that: The establishment of the current loop transfer function is specifically as follows: In the formula, I F (s) represents the complex frequency domain q-axis current feedback; k IP For the current loop ratio; k II For the current loop integral; I C (s) represents the complex frequency domain q-axis current command; L p For motor phase inductance; u DC R is the center voltage of the inverter bus. s Motor phase resistance r p and sampling resistor r s sum.

3. The anti-interference torque method for direct drive control of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S3, M1 is 20~40 codewords.

4. The anti-interference torque method for direct drive control of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S6, M2 is 400~550 codewords.

5. The anti-interference torque method for direct drive control of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S4, establishing the interference source model specifically involves: In the formula, ω F For the measured angular velocity, T D Let J be the disturbance torque, J be the total inertia of the mechanical components and the motor, and k be the torque. VP For the velocity loop ratio, k VI For the velocity loop integral, K T This is the motor torque constant.

6. The anti-interference torque method for direct drive control of a permanent magnet synchronous motor according to claim 5, characterized in that: The speed ring ratio =12~20.

7. The anti-interference torque method for direct drive control of a permanent magnet synchronous motor according to claim 5, characterized in that: The velocity loop integral =40~60.

8. An electronic device, characterized in that: It includes a processor (301), a memory (303), and a communication bus (304), wherein the processor (301) and the memory (303) communicate with each other through the communication bus (304); the memory (303) is used to store programs; The processor (301) is used to process: the anti-interference torque method for direct drive control of a permanent magnet synchronous motor as described in claim 1.

Images