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Motor control apparatus

A technology of a control device and a motor, applied in motor control, control system, adaptive control, etc., can solve the problems of large steady-state noise and large motor speed, and achieve the improvement of observation noise, vibration or noise in transition process, and good command. effect of response

Active Publication Date: 2009-02-18
东元总合科技(杭州)有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0011] like Figure 9d As shown, under the action of external disturbance 2d, the velocity response of the system does not appear as Figure 9a Such a large fluctuation, but the steady-state noise is relatively large in the steady-state 3d, that is, case A
[0012] like Figure 9b As shown, under the action of external disturbance 2b, the system velocity response does not appear as Figure 9a Such a large fluctuation, but in the starting process 1b, the motor speed has a large overshoot and vibration, that is, case B

Method used

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Embodiment 1

[0074] The motor control device of this embodiment is mainly to suppress the disturbance problem in case A mentioned in the background, that is, the deterioration of command steady-state response is the dominant factor.

[0075] see image 3 , the motor control device of this embodiment includes a position detection link, which is used to detect the position of the motor and output a motor position signal; the speed calculator generates a speed feedback signal of the motor according to the motor position signal obtained by the position detection link; the position controller according to the position The speed command is output by the difference between the command and the motor position signal; the speed controller outputs the torque command through the difference between the input speed command and the speed feedback signal; the torque control link controls the motor through the input torque command;

[0076] The disturbance observer outputs the observed disturbance torque b...

Embodiment 2

[0084] The motor control device of this embodiment is also intended to suppress the disturbance problem in case A mentioned in the background, that is, the deterioration of command steady-state response is the dominant factor.

[0085] see Figure 4 , the motor control device of this embodiment includes a position detection link, which is used to detect the position of the motor and output a motor position signal; the speed calculator generates a speed feedback signal of the motor according to the motor position signal obtained by the position detection link; the position controller according to the position The speed command is output by the difference between the command and the motor position signal; the speed controller outputs the torque command through the difference between the input speed command and the speed feedback signal; the torque control link controls the motor through the input torque command;

[0086] The disturbance observer outputs the observed disturbance ...

Embodiment 3

[0094] The motor control device of this embodiment is mainly to suppress the disturbance problem in case B mentioned in the background, that is, the deterioration of command dynamic response is the dominant factor.

[0095] see Figure 5 , the motor control device of this embodiment includes a position detection link, which is used to detect the position of the motor and output a motor position signal; the speed calculator generates a speed feedback signal of the motor according to the motor position signal obtained by the position detection link; the position controller according to the position The speed command is output by the difference between the command and the motor position signal; the speed controller outputs the torque command through the difference between the input speed command and the speed feedback signal; the torque control link controls the motor through the input torque command;

[0096] The disturbance observer outputs the observed disturbance torque by in...

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Abstract

The present invention provides a motor control apparatus for improving various perturb resistance capability of a motor to exterior load change. Based on the existing motor control apparatus equipped with perturb observer, the apparatus is added with perturb observation output control unit, by which an observation perturb torsion value superposed to an output torsion instruction of a speed control unit, is adjusted. Thus system perturb response is enhanced and transition oscillation or noise caused by perturb restrain control is improved.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a motor control device for improving the motor's ability to resist various disturbances such as external load changes. Background technique [0002] In the motor control device, three control modes, torque control, speed control, and position control, can usually be formed, such as figure 1 As shown, outside the torque control link, a speed control system with a speed controller is assembled to form a speed control system with a speed controller, and a position control system with a position controller is assembled outside the speed control system. As can be seen from the figure, the speed control system includes: the speed controller, which generates a torque command according to the difference between the speed command and the speed feedback; the torque control link, which supplies power to the motor according to the torque command; the position detection link is used to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P29/00G05B13/02
Inventor 邹积浩董海军
Owner 东元总合科技(杭州)有限公司
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