Load disturbance resistant method and device thereof based on hybrid regulator

Abstract

The invention relates to a load disturbance resistant method and a device thereof based on a hybrid regulator and belongs to the field of permanent magnet synchronous motor servo control. The load disturbance resistant device based on the hybrid regulator comprises a personal computer (PC), a controller, a voltage detection unit, an isolation drive unit, a current detection unit, a rotation speed detection unit, a three-phase non-control rectifier bridge, a bus energy storage capacitor, a three-phase full bridge inverter, a permanent magnet synchronous motor, an encoder and an adjustable load. According to a speed ring, the hybrid regulator is adopted to replace a rotation speed PI regulator of a traditional closed-loop system, and influence on rotation speed fluctuation by load disturbance is restricted. In the hybrid regulator, load torque and the rotation speed serve as state variables, a difference of practical rotation speed and observed rotation speed is defined to be a slip form switching surface, and a slip form load torque observer is designed to be used for achieving online identification of the load torque. The load disturbance resistant device based on the hybrid regulator is suitable for the permanent magnet synchronous motors of different rotor structures, effective under different current control modes and wide in application range.

Description

technical field [0001] The invention relates to a motor control method and device, in particular to a control method and device for anti-load disturbance in an AC servo system of a permanent magnet synchronous motor. Background technique [0002] High-performance permanent magnet synchronous motor servo system requires good dynamic and static performance. In the actual system, the load torque disturbance will cause the fluctuation of the speed. This is because in the traditional speed / current closed-loop system, the engineering optimization of the speed loop transfer function is carried out when the load torque disturbance is assumed to be zero or a fixed value. When the load torque changes, the speed loop regulator cannot suppress the load disturbance. In order to improve the anti-interference performance of the system, the feed-forward compensation of load torque is usually introduced, and combined with the original regulator to form a two-degree-of-freedom hybrid regulat...

AI Technical Summary

Problems solved by technology

The existing load torque observers can be generally divided into two categories. One is to design a full-order or reduced-order state observer based on the fundamental wave mathematical model of the motor. This method uses a large number of motor parameters, and its identification accuracy is seriously affected by the parameters; Another method is the Kalman filter method, which automatically calculates the optimal feedback gain coefficient through the estimation error of the system state variables and the statistical characteristics of the system noise. Compared with the previous method, it has a strong ability to suppress interference, but the amount of calculation Very large, difficult to achieve online identification

Most of the above methods are based on hidden pole motors, and cannot identify the reluctance torque of salient pole permanent magnet synchronous motors due to the salient pole structure, and under different current control methods, the estimation accuracy varies greatly, and the application range is limited

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