Biaxial Permanent Magnet Servo Position Control Without Cascade Loops
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Solution Overview
Problem
Conventional model predictive control methods for biaxial permanent magnet synchronous motors suffer from a redundant cascade controller structure, leading to limited dynamic response performance and decreased contour tracking accuracy due to unbalanced loads and reference contour trajectory turning.
Innovation Solution
A nonlinear predictive position control method is developed, incorporating a value function and nonlinear disturbance observer to optimize voltage control and suppress uncertainty disturbances, using a single-axis non-cascade controller structure to enhance dynamic response and tracking accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a cascade controller structure is used for biaxial permanent magnet synchronous motor control, then the system can maintain basic stability, but the dynamic response performance is limited and the contour tracking accuracy deteriorates
Solution Approach 1:
The patent extracts and removes the redundant cascade controller structure from the biaxial motor control system. By eliminating the intermediate cascade control layer and directly implementing model predictive control on the motor outputs, the system achieves faster dynamic response without the structural complexity of traditional cascade control.
Solution Approach 2:
The patent merges the position control and speed control functions into a unified model predictive control framework. Instead of using separate cascade controllers for different control loops, the invention combines all control objectives into a single optimization problem that directly minimizes contour error while considering motor dynamics.
2Manufacturing precision
If conventional model predictive control is applied to biaxial systems, then basic tracking functionality is achieved, but contour tracking accuracy decreases due to unbalanced loads and trajectory turning
Solution Approach 1:
The patent implements a feedback mechanism where the actual motor outputs (positions and velocities) are continuously measured and fed back into the model predictive control algorithm. This feedback allows the controller to real-time adjust control voltages based on actual system state, compensating for unbalanced loads and trajectory variations to maintain high contour tracking accuracy.
Solution Approach 2:
The patent employs a dynamic model predictive control approach where the control horizon and prediction horizon are optimized adaptively. The controller dynamically adjusts control actions based on real-time system state and predicted future trajectories, enabling it to adapt to unbalanced loads and complex trajectory turning while maintaining precision.
3Productivity
If a redundant cascade controller structure is used, then comprehensive control coverage is achieved, but the system complexity increases and dynamic response is limited
Solution Approach 1:
The patent extracts and removes the redundant cascade controller structure from the biaxial motor control system. By eliminating the intermediate cascade control layer and directly implementing model predictive control on the motor outputs, the system achieves faster dynamic response without the structural complexity of traditional cascade control.
Data Source
AI summary
The disclosure discloses a nonlinear predicative position control method suitable for a biaxial permanent magnet servo system. In consideration of uncertainty disturbance of the biaxial permanent magnet synchronous motor driving system, a value function for the biaxial permanent magnet synchronous motor driving system and a constraint condition of the value function are constructed, and the value function is solved to obtain a voltage control quantity of the permanent magnet synchronous motor, and the voltage control quantity of the permanent magnet synchronous motor is input into the stator voltage input end of the permanent magnet synchronous motor, thereby realizing the adjustment control of the nonlinear prediction position of the biaxial permanent magnet synchronous motor driving system.