面向机器人关节模组无位置传感器转矩扰动抑制控制方法
By constructing a fusion-type unified observer in a permanent magnet synchronous motor, speed and disturbance information are directly extracted from the motor parameters, solving the problem of rotor speed and position estimation of robot joint modules under extremely low-speed conditions, and achieving high-precision disturbance suppression and smooth operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XIAN JINGDONG MICRO MOTOR TECHNOLOGY CO LTD
- Filing Date
- 2026-05-19
- Publication Date
- 2026-07-17
AI Technical Summary
Existing sensorless control methods struggle to reliably estimate rotor speed and position in robot joint modules under extremely low-speed conditions. Furthermore, traditional cascaded observers suffer from phase lag, which affects disturbance compensation and leads to reduced noise, vibration, and control accuracy.
A permanent magnet synchronous motor model is constructed in a synchronous rotating coordinate system using a fusion-type unified observer. The observer is designed using sliding mode theory and Lyapunov stability method to directly extract speed and disturbance information from the motor parameters, and a unified state space framework is constructed to achieve synchronous observation and compensation of speed and disturbance.
Without relying on mechanical position sensors or injecting high-frequency signals, the stability, disturbance rejection performance, and control accuracy of the robot joint module under extremely low-speed conditions are improved, and the phase lag problem of traditional cascaded observers is eliminated.
Smart Images
Figure CN122210652B_ABST