High-precision permanent magnetic servo motor three-closed-loop control system and method

Abstract

The invention discloses a high-precision permanent magnetic servo motor three-closed-loop control system and a high-precision permanent magnetic servo motor three-closed-loop control method. The system comprises an upper computer, a control module, a detection driving module and a power module; the power module comprises a three-phase inverter and a permanent magnetic synchronous motor; three phases of outputs of the three-phase inverter are connected to the interior of the permanent magnetic synchronous motor; a software part comprises a position control module, a speed control module, a current control module and a voltage vector modulation module and is controlled by adopting a three-closed loop system comprising a position loop, a speed loop and a current loop; a speed error signal is regulated by fuzzy PI compound control of the control module; the fuzzy PI (Proportion Integration) compound control comprises fuzzy control and PI control which are combined by adopting a fuzzy conversion mode; and the voltage vector modulation module is a voltage vector pulse width modulation module on the basis of a Kohonen neural network. According to the invention, the dynamic performance, the steady accuracy and the robustness of a permanent magnetic synchronous motor controller can be effectively improved and the control rapidness and strong load disturbance resistance are achieved.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a three-closed-loop control system and method for a high-precision permanent magnet servo motor. Background technique [0002] Motor control technology is the core of servo drive control. From the perspective of development history, motor control technology is closely related to the development of motors, high-power devices, microelectronic devices, sensors, microcomputers and control theory. In 1971, German scholars Blaschke and Hasse successively proposed new ideas, new theories and new technologies of vector conversion control of AC motors. Its appearance has epoch-making significance for the research of AC motor control technology. Because this kind of vector transformation AC closed-loop control system formed by magnetic field orientation, its control performance can be completely comparable to that of the DC system. Vector control is developed on the basis of electr...

AI Technical Summary

Problems solved by technology

At present, the permanent magnet synchronous motor (PMSM) vector control system generally adopts the speed and current double closed-loop control method, and most of the speed control uses the traditional PI controller. Although the PI control algorithm is simple, the parameter adjustment is convenient, and it has certain control accuracy. , but the essence of PI control is a kind of linear control, and the controlled object PMSM has nonlinear characteristics accompanied by changes in parameters, so that PI control cannot maintain the expected performance indicators during design, and cannot fundamentally solve the dynamic quality The contradiction between the steady-state accuracy and the system robustness is poor

[0003] Aiming at the shortcomings of the above existing technologies, Chinese patent CN202103620U discloses a compound control system based on the permanent magnet synchronous motor vector control system. The disadvantages of this system are: (1) The dynamic performance of the system has not been improved; parameters, debugging will be more difficult; (3) The switch between the two controls is unreasonable, which will easily cause system oscillation.

In addition, the traditional SVPWM algorithm is generally used for voltage vector pulse width modulation in the prior art. This algorithm involves a large number of trigonometric functions and root-finding operations, and the calculation is relatively complicated. Moreover, as the number of levels increases, the number of base vectors increases, and the switching The redundant state is also further increased, and the whole process of implementing the traditional SVPWM algorithm is very cumbersome

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