35 results about "Position error signal" patented technology

The invention discloses a permanent magnet synchronous motor sensorless control method based on a dynamic position error. A transition stage is provided, per-unit estimation position errors between a first position error signal obtained based on a high-frequency signal injection method and a second position error signal obtained based on a sliding mode observer are compared, an optimal switching speed point is dynamically determined, smooth fusion is carried out on the two position errors by using a nonlinear weighting function, and the optimal switching speed point is obtained. And finally, the estimated position and rotating speed are obtained through a phase-locked loop. And finally, position tracking is carried out by adopting different error signals according to the estimated rotating speed. According to the method, the problem of estimation value pulsation and jump caused by the fact that a traditional method depends on fixed experience switching points is solved, smooth and self-adaptive switching of the two estimation methods in the full-speed domain range is achieved, the control precision and operation stability of the system are remarkably improved, the structure is simple, and engineering implementation is easy.

The invention provides a control method and device of an optical anti-vibration motor, and relates to the technical field of optical anti-vibration. The method comprises the following steps: acquiring a position error signal of a motor, wherein the position error signal is a signal determined according to a difference relationship between a current position and an expected position of the motor; performing feature extraction according to the position error signal to obtain an amplitude feature value representing the oscillation degree of the system; the current state of the system is determined according to the amplitude characteristic value, an error absolute value and the matching relation between the state of the system at the previous moment and a preset skipping condition, the error absolute value is the absolute value of the position error signal, and the preset skipping condition is the condition needing to be met by the amplitude characteristic value and the error absolute value when the system state is switched; and determining an adjustment coefficient according to the current state of the system and the amplitude characteristic value, thereby determining the current gain control output of the system by using the adjustment coefficient. According to the scheme, the self-oscillation of the optical anti-vibration system can be suppressed accurately and effectively.

The application discloses a kind of permanent magnet synchronous motor position sensorless control demodulation methods based on three-branch external tangent demodulation, belong to permanent magnet synchronous motor control field.This method injects random half-cycle square wave high-frequency voltage signal in the estimation synchronous rotating coordinate system, collects three-phase current and extracts high-frequency current component under stationary αβ coordinate system;According to the estimated electrical angle, construct three sets of three-branch external combined current variables, obtain the demodulation quantity corresponding to the position error sine and cosine components by algebraic combination, then obtain the position error signal by external tangent relationship, and estimate rotor position and speed by phase-locked loop.This method does not depend on the strict synchronization multiplication of random square wave demodulation carrier and sampled current, can weaken or avoid the equivalent delay influence of about 1.5Ts caused by digital sampling, improve the position estimation accuracy and robustness under random half-cycle switching condition.

Various illustrative appearances relate to a data storage device, a method, and one or more processing devices configured to: open a servo gate in the selected head during a read operation to read the first servo bursts, the sync mark, and the second servo bursts in one of the servo sectors; and determine a position error signal for the selected head based on reading the first servo bursts and the second servo bursts.

Various illustrative aspects are directed to a data storage device, method, and one or more processing devices that are configured to: during a read operation, open a servo gate in the selected head in order to read the first servo bursts, the sync mark, and the second servo bursts in one of the servo sectors; and determine a position error signal for the selected head based on reading the first servo bursts and the second servo bursts.

The invention relates to a data storage device with auxiliary pulse trains in servo sectors. Various illustrative aspects relate to a data storage device, a method, and one or more processing devices configured to open a servo gate in a selected head during a read operation, the first servo pulse train, the synchronization mark and the second servo pulse train in one of the servo sectors are read; and determining a position error signal of the selected head based on reading the first servo pulse train and the second servo pulse train.

This invention provides a data storage device that controls the torsional mode of a coil and reduces the power consumption of an actuator. [Solution] A voice coil motor assembly (VCMA) 400 for hard disk drives and the like includes a low-density voice coil 407 and a high-density coil reinforcement 408 positioned inside the wire coil. The low-density voice coil, utilizing copper-clad aluminum or aluminum wire, increases the second coil torsion mode frequency of the VCMA, thereby bringing it closer to the second torsion mode frequency of the actuator arm 402. In addition, the high-density reinforcement, utilizing steel, copper, or zinc, increases the mass of the VCMA with respect to the center of mass of the VCMA around the rotation axis of the VCMA, compensating for the lower-density wire. With respect to the position error signal (PES) under customer box vibration conditions, significant peaks in the PES spectrum are largely eliminated, and the power of the PES is reduced by approximately half.

This invention discloses a sensorless permanent magnet synchronous motor (PMSM) control method based on an adaptive phase-locked loop (PLL) and an anti-saturation controller, comprising the following steps: S1, injecting a high-frequency square wave voltage signal into the estimated synchronous rotating coordinate system; acquiring the stator current of the PMSM to obtain a high-frequency current deviation signal in a two-phase stationary coordinate system; S2, using an improved anti-integral saturation controller as the speed loop controller to receive the speed command and feedback speed error signal; simultaneously, calculating the rotor position error signal based on the high-frequency current signal; S3, inputting the rotor position error signal to the adaptive PLL, which adaptively adjusts its undamped oscillation frequency according to the motor's operating state to achieve dynamic adjustment of the observation bandwidth, and outputs rotor position and speed estimates; sensorless vector control of the PMSM is achieved through the estimates. This invention exhibits excellent stability and adaptability during low-speed motor operation.

The invention relates to the technical field of motion control, and discloses a positioning method for a high-precision servo linear motor, and the method comprises the steps: carrying out the signal mapping of a positioning instruction inputted into the servo linear motor, and obtaining a control signal; performing driving control on the servo linear motor based on the control signal to obtain a preliminary motion state; detecting the initial motion state in real time to obtain a position feedback signal; performing error identification on the target position information and the position feedback signal to obtain an initial position error signal; performing fusion compensation on the initial position error signal and the multi-source sensing data to obtain a high-precision position error signal; the motion parameters of the servo linear motor are subjected to real-time compensation control based on the high-precision position error signal, a high-precision positioning result is obtained, and the positioning precision and efficiency of the servo linear motor can be improved.

The invention discloses a permanent magnet synchronous motor high-frequency square wave injection method based on parameter autonomous optimization, and the method comprises the steps: building a mathematical model of a permanent magnet synchronous motor under high-frequency excitation, and injecting a high-frequency square wave voltage signal into an estimated axis of a two-phase rotating coordinate system; the high-frequency current response signal is processed under the measurement shafting, and a rotor position error signal is decoupled; processing the rotor position error signal by using a phase-locked loop to obtain the rotating speed and rotor position information of the motor; and carrying out autonomous optimization setting on PI controller parameters of the phase-locked loop by adopting a dogvessel squirt algorithm of a mixed double-leader and vanquish elimination mechanism. The problems that a high-frequency voltage signal injection method is low in detection precision and is greatly influenced by non-ideal factors, and phase-locked loop parameters are difficult to set are solved, and the rotor position observation precision and robustness of the permanent magnet synchronous motor without sensor control under the zero-low-speed working condition are improved.

Various illustrative aspects are directed to a data storage device, method, and one or more processing devices that are configured to: obtain a first value of a first servo burst signal and a second value of a second servo burst signal associated with a servo pattern in a track of the disk; calculate an adjusted first value and an adjusted second value by adjusting one or both of the first value and the second value based on a measure of servo pattern distortion associated with the track; generate a position error signal (PES) using the adjusted first value and the adjusted second value; and control a position of the head over the track using the PES.

Example control circuitry, data storage devices, and methods to use dual servo channels for burst gain switching are described. The data storage device may include two servo channels, such as the dual channels in a two-dimensional magnetic recording channel, that receive read signals for the same servo sector in parallel. One channel is calibrated to use a gain value for a first portion of the servo pattern, such as the preamble and Gray code for the servo address mark, and the other channel is calibrated to use a different gain value for a second portion of the servo pattern, such as the burst pattern. The resulting signal values may then be combined to determine the position error signal. Both channels may be configured to use different gain values for different portions of the read signal with corresponding gain switching and combining them may use the most reliable portions of each signal.

A controller calculates, based on a positional error signal, an evaluation amount of damage on data of an adjacent track caused by a write operation, and compares a first amount being the evaluation amount with a first threshold value corresponding to a correction limit of an error correction in units of tracks. The controller interrupts the write operation in response to determining that the first amount is greater than the first threshold value. The controller executes a read operation on the adjacent track, acquires a metric representing a signal quality of the data of the adjacent track read by the read operation, calculates the evaluation amount based on the metric, and compares a second amount being the evaluation amount with the first threshold value. The controller continues the write operation in response to determining that the second amount is smaller than a first threshold value.

The invention discloses a motor control method and device, equipment and a storage medium, and relates to the field of motor control, and the method comprises the steps: adding a high-frequency voltage injection component into a target control voltage instruction, carrying out the processing of a collected three-phase current signal of a motor, extracting a high-frequency current signal corresponding to the high-frequency voltage injection component, and obtaining a high-frequency current signal corresponding to the high-frequency voltage injection component; a cross saturation correction coefficient is introduced to compensate an interference component generated by a cross saturation effect of d-axis inductance and q-axis inductance of the motor body in the high-frequency current signal, so that a position error signal is accurately determined, a more accurate rotating speed observation value and a more accurate rotor position observation value are obtained, the motor is controlled, and the accuracy of the motor is improved. According to the invention, the problems of inaccurate estimation of the rotor position and reduction of the load capacity of zero-frequency and low-frequency intervals caused by insufficient consideration of the cross saturation effect in the prior art are solved, and the effect of improving the stability and reliability of the motor during low-frequency operation is achieved.

The application discloses a small-sized airborne optical communication system based on a piezoelectric scanning platform, which comprises a coarse tracking module, a fine tracking module and a signal transceiving module; a multimode laser of a communication transmitting end transmits coarse beacon light, which is emitted after collimation of a transmitting lens, and is irradiated into the coarse tracking module of a receiving telescope on the opposite side after propagating in free space for a distance; coarse tracking receiving lenses in the receiving telescope focus the coarse beacon light into a coarse tracking camera target surface; then, the pointing angle of the holder is adjusted according to the position error signal of the focused light spot, and the initial acquisition and alignment of the communication parties are completed. The application is small-sized and light-weighted, the weight of the whole system is controlled to be about 1 kg, the tracking and aiming precision is high, the camera in the fine beacon loop can distinguish up to 4.7 mu rad of light field angle change, the link loss is low, the position of the single-mode optical fiber can be accurately adjusted, the coupling efficiency is the highest, meanwhile, all the lenses in the system are coated with antireflection films responding to the wavelength, and the transmittance of the system itself is improved.

The application provides an adaptive unmanned ship track control method, which measures the surge speed signal, the lateral position signal and the heading angle signal of the unmanned ship through an inertial navigation device, and obtains the filtered differential signal through a second-order oscillation differential filter according to the surge speed error signal, the lateral position error signal and the heading angle error signal, and superimposes the corresponding error integral signal to form the velocity error sliding mode signal and the heading angle error sliding mode signal; then the adaptive compensation is performed on the unmanned ship turning moment signal of the surge propulsion force and the track control through the adaptive law design, and the final surge propulsion force and turning moment are obtained through the superposition of the corresponding sliding mode nonlinear signal and the adaptive control signal of the constant surge propulsion force signal, so that the tracking control of the given speed and the expected track is realized.

The application discloses a three-stage synchronous motor based on a third-order phase-locked loop and a simplified demodulation method of a rotor position at zero and low speed, and single-phase AC excitation is applied to a main excitation machine of the three-stage synchronous motor to make dq-axis voltage with position error information generated on a stator side of a main generator; a process processing signal with a low-frequency position error signal is constructed through band-pass filtering and product operation; a middle signal is obtained by adopting a wave trap to suppress a second harmonic component of the process processing signal; the middle signal is input into a third-order phase-locked loop to calculate an estimated position of a rotor, sector correction is carried out according to a stator current sign, an initial position angle is obtained, and high-precision rotor position estimation under a zero and low speed working condition of the three-stage synchronous motor is realized. In the demodulation process of the application, the harmonic analysis frequency is clear, the structure of the wave trap cascaded with the third-order phase-locked loop is adopted, low-frequency position error signals and high-frequency harmonics are effectively isolated, and the rotor position estimation precision in the acceleration process of the motor is significantly improved.

The embodiment of the invention provides a magnetic disk device with high writing action performance. A magnetic disk device according to an embodiment includes a magnetic disk, a head, and a controller. The controller calculates, on the basis of the position error signal, an evaluation amount of damage to the data of the adjacent track due to the write operation, and compares a first amount, which is the evaluation amount calculated on the basis of the position error signal, with a first threshold value corresponding to the correction limit of the error correction in units of tracks. The controller interrupts the write operation in response to determining that the first amount is greater than the first threshold value. Furthermore, the controller executes a read operation for an adjacent track, acquires a measure indicating the signal quality of the data of the adjacent track read by the read operation, calculates an evaluation amount based on the measure, and compares a second amount, which is the evaluation amount calculated based on the measure, with a first threshold value. In response to the determination that the second amount is smaller than the first threshold value, the controller continues the write operation.

The application discloses a brushless direct current motor position sensor signal reconstruction method based on a reference model and relates to the technical field of motor control. The method comprises the following steps: collecting three-phase voltage and current signals of a motor and performing pretreatment; inputting the signals into a sliding mode observer and a preset reference model in parallel to obtain first and second rotor position estimation values respectively; calculating the difference between the two values to generate a position error signal, taking the signal as feedback, and dynamically optimizing the internal parameters of the sliding mode observer through an adaptive law; and reconstructing a high-precision rotor position signal in real time based on the optimized sliding mode observer, so that the system can be seamlessly switched to the reconstructed signal when a physical sensor fault is detected, and smooth fault-tolerant operation is realized. The application realizes accurate reconstruction of the position signal and smooth and undisturbed fault-tolerant switching by combining the sliding mode observer with the reference model.

Various illustrative aspects are directed to a data storage device, comprising one or more disks; an actuator mechanism configured to position one or more heads proximate to a corresponding disk surface of the one or more disks; and one or more processing devices. The one or more processing devices comprise control circuitry which comprises an asynchronous demodulation module. The asynchronous demodulation module is configured to: receive demodulated split null burst signals based on the selected head reading a first set of bursts and a second set of bursts in a split burst servo pattern of the corresponding disk surface; and output, based on the demodulated split null burst signals, a radial position signal, indicative of a radial position of the selected head

The invention discloses a spline and sector tooth position degree detection device for shaft parts, and the device comprises a reference building module which comprises a pedestal platform, a vertical plate, a power drive unit, and a workpiece clamping mechanism; the workpiece clamping mechanism is arranged on the base platform to fix a shaft part to be detected; the power driving unit is arranged on one side of the upper end of the vertical plate; the circumferential positioning module comprises a rotary positioning assembly, and a positioning element is arranged at the end of the rotary positioning assembly; the error detection module comprises a three-dimensional adjusting and measuring mechanism, a spline adapter and a displacement sensor; the three-dimensional adjusting and measuring mechanism comprises a detection head; the two ends of the spline adapter are provided with error transmission surfaces and abut against the measuring end of the detection head. The measuring end of the displacement sensor abuts against the detection head to receive and display a position error signal. According to the invention, location degree detection can be rapidly completed, efficient model switching is realized, the waiting time for production and production switching is shortened, and the detection accuracy is guaranteed.

The embodiment of the invention provides a motor parameter control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a first-phase sampling current and a second-phase sampling current of a motor at a current sampling moment based on a preset sampling period when a first-phase sinusoidal voltage signal and a second-phase sinusoidal voltage signal are continuously input into the motor, the preset sampling period is obtained based on a signal period of the motor, and the first phase sinusoidal voltage signal and the second phase sinusoidal voltage signal are orthogonal signals; performing differential calculation on the first phase sampling current to obtain a first differential current, and performing differential calculation on the second phase sampling current to obtain a second differential current; calculating a rotor position error signal based on the current sampling moment, the first differential current and the second differential current; and the rotor position estimation value of the motor observer is adjusted based on the rotor position error signal, and operation control is performed on the motor based on the adjusted rotor position estimation value, so that the motor control performance is improved.

The invention discloses a permanent magnet servo motor model prediction control method, which belongs to the field of motor control, and comprises the following steps: generating a position error signal according to a position instruction and the actual position of a rotor; inputting the position error signal into a proportional integral controller to obtain a rotating speed reference signal; generating a rotating speed error signal according to the rotating speed reference signal and the rotor actual rotating speed; the rotating speed error signal is input into a nonsingular terminal sliding mode controller for operation processing, and a q-axis current reference value is obtained; a model prediction controller is constructed, a d-axis current reference value is set to be zero, and a value function is constructed; according to the current state signal of the motor, carrying out rolling optimization on all candidate voltage vectors by utilizing a model prediction controller, and determining the voltage vector which enables the value function to obtain the minimum value as the optimal voltage vector; and applying a switching signal corresponding to the optimal voltage vector to an inverter to drive the permanent magnet servo motor. According to the invention, rapid, accurate and stable control of the motor under external disturbance can be realized.

The method of operation of the drive unit includes a step of generating a pulse block based on the drive pulse, and a step of correcting the drive signal in correspondence with the position error signal. In the step of correcting the drive signal, in a case where the position error signal is within a first range, the shape of the drive pulse is corrected in a manner such that the shape of the drive pulse becomes a first drive pulse shape, and a pulse block duty ratio is set to a first pulse block duty ratio value (C-83, C-84), and in a case where the position error signal is within a second range, the shape of the drive pulse is corrected in a manner such that the shape of the drive pulse becomes a second drive pulse shape, and the pulse block duty ratio is set to a second pulse block duty ratio value (C-85, C-86).

The application discloses a kind of permanent magnet synchronous motor position sensorless control method based on dynamic position error.Propose transition phase, contrast between the first position error signal obtained based on high-frequency signal injection method and the second position error signal obtained based on sliding film observer, standardize the position error of estimation between the two, dynamically determine the best switching speed point, and use nonlinear weighting function to smooth fusion two kinds of position error, finally get the estimated position and speed through phase-locked loop;Finally, according to the estimated speed, different error signals are used for position tracking.The application overcomes the problem of estimated value pulsation and jump caused by the dependence of traditional method on fixed experience switching point, realizes the smooth and adaptive switching of two estimation methods in full-speed range, significantly improves the control accuracy and operation stability of the system, and has simple structure and is easy to implement in engineering.

A controller calculates, based on a positional error signal, an evaluation amount of damage on data of an adjacent track caused by a write operation, and compares a first amount being the evaluation amount with a first threshold value corresponding to a correction limit of an error correction in units of tracks. The controller interrupts the write operation in response to determining that the first amount is greater than the first threshold value. The controller executes a read operation on the adjacent track, acquires a metric representing a signal quality of the data of the adjacent track read by the read operation, calculates the evaluation amount based on the metric, and compares a second amount being the evaluation amount with the first threshold value. The controller continues the write operation in response to determining that the second amount is smaller than a first threshold value.

To provide a magnetic disk device having high performance of write operation.SOLUTION: The controller calculates an evaluation amount of damage received by the data of the adjacent track due to the write operation based on the position error signal, and compares a first amount, which is the evaluation amount calculated based on the position error signal, with a first threshold value corresponding to a correction limit of error correction in track units. The controller suspends the write operation in response to determining that the first amount is greater than the first threshold value. Then, the controller executes a read operation on the adjacent track, acquires a metric representing signal quality of the data of the adjacent track read by the read operation, calculates an evaluation amount based on the metric, and compares a second amount, which is the evaluation amount calculated based on the metric, with a first threshold value. In response to determining that the second amount is less than the first threshold value, the controller continues the write operation.SELECTED DRAWING: Figure 11

The application discloses a voltage feedforward type permanent magnet synchronous motor position sensorless control method, aiming at the problem of the steady-state error of the conventional phase-locked loop in the traditional voltage feedforward method during dynamic speed regulation, an improved phase-locked loop is constructed, a feedforward speed reconstruction strategy is innovatively proposed, a feedforward speed component is obtained by using the stator voltage and mathematical operation, coarse adjustment of the estimated speed is realized, the closed-loop adjustment of the conventional phase-locked loop to the position error signal is reserved, the phase-locked loop estimated speed component is obtained to eliminate the error, the accurate estimated speed is obtained by superimposing the two speed components, and the rotor position is obtained after integration; the application can completely eliminate the position steady-state error under the acceleration and deceleration conditions without affecting the steady-state performance of the motor, significantly improves the dynamic speed regulation performance and the anti-interference ability, is suitable for the permanent magnet synchronous motor driving system which is high in control precision and dynamic response requirement under the medium and high speed conditions, and has wide engineering application value.

This invention discloses a small airborne laser communication terminal based on single-mode transmission and multi-mode reception, including a signal transmission and beacon transmission module and a signal reception and beacon reception module. The beacon light in the signal transmission and beacon transmission module is emitted at a specific half-divergence angle, and the signal light is also emitted at a specific half-divergence angle. After propagating a certain distance in free space, the signal light and beacon light are received by the receiving telescope, which focuses the beacon light onto the camera target surface. The pointing angle of the three-axis gimbal is driven based on the position error signal of the beacon light spot, completing the bidirectional alignment of the telescope. This invention employs a small and lightweight laser communication system, which improves fiber coupling efficiency, reduces signal light link loss, and has better robustness to atmospheric turbulence and platform vibration, making it suitable for use on UAVs for free-space optical communication experiments.

The invention provides a rotor angle position detection method. The rotor angle position detection method comprises the steps of detecting a voltage waveform output by a Hall sensor to obtain a single-path sinusoidal signal; obtaining a first cosine signal based on the signal; the single-path sinusoidal signal is converted into a square wave signal to control a PI module in the phase-locked loop module to be enabled or disabled; when the PI module is enabled, estimating an estimated value of the angular velocity signal in real time; obtaining an estimated value of an angular position according to the angular velocity signal, thereby obtaining a second cosine signal and obtaining a sign symbol of a waveform amplitude; obtaining a cosine signal based on the first cosine signal and the sign symbol; based on the single-path sinusoidal signal, the cosine signal and the estimated value of the angle position, obtaining an angle position error signal for a PI module to estimate an angular velocity signal; and performing difference operation on the angle position error signal and the angle error set value, and when the phase-locked loop module judges that a difference operation result is converged, outputting an estimated value of the angle position as an actual value of the angle position. The method is low in cost and high in precision.