Servo control strategy and system for simultaneously eliminating counter potential and load torque disturbance

Abstract

The invention discloses a servo control strategy and system for simultaneously eliminating a counter potential and load torque disturbance. Based on a nominal model of an armature winding, total disturbance of an electrical part is estimated according to voltages externally applied to two ends of an armature and a detection value of an armature current, and the disturbance is offset by a feedforward compensation part; the residual disturbance of the counter potential is eliminated by combining feedback and adjustment of the armature current; an inner ring of the system is built by a combination step of feedforward control for eliminating electrical total disturbance and current feedback control; based on a nominal mode of a transmission system, the total disturbance of a mechanical part is determined according to the armature current and actual rotational speed information, and the disturbance is offset by the feedforward compensation part; by combining feedback and adjustment of the rotational speed, the residual disturbance of the load torque is eliminated; and an outer ring of the system is built by the combination step of feedforward control for eliminating mechanical total disturbance and rotational speed feedback control. By the servo control strategy, the disturbance of two different time scales is eliminated, and the interference resistant capability and the dynamic and static performance of the servo system are greatly improved.

Description

technical field [0001] The invention relates to a servo control strategy and system for simultaneously eliminating counter electromotive force and load torque disturbance. Background technique [0002] Servo control technology is widely used in robotics, high-speed rail, electric vehicles, CNC machine tools, aviation, aerospace and other fields. In order to obtain a high-performance closed-loop servo control system, it is necessary to solve the following two basic problems: (1) How to obtain the feedback information required to form a closed-loop system; (2) How to design the control strategy of the servo control system. [0003] For the former, as far as the servo system is concerned, the required feedback information involves such as current, voltage, speed, and position, among which the current (or voltage) information can be directly measured by sensors (such as Hall or transformers, detection resistors, etc.) get. Position information can be directly measured by senso...

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Problems solved by technology

[0015] (2) The existing scheme has not considered the changes of electrical parameters (such as resistance, inductance) and mechanical parameters (such as moment of inertia, stick-slip damping coefficient) of the controlled motor (including DC, AC asynchronous and synchronous, and permanent magnet brushless, etc.) )The change;

But so far, no scheme has been found to simultaneously estimate the load torque and back EMF disturbance using two extended state observers

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