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Fuzzy active disturbance rejection control method of permanent magnet synchronous motor used for industrial robots

A permanent magnet synchronous motor, industrial robot technology, applied in the direction of motor generator control, electronic commutation motor control, control system, etc., can solve the problem of only analog and pulse control mode, poor dynamic response ability, drive motor system performance Higher requirements and other issues, to achieve the effect of improving accuracy and anti-disturbance ability, improving rapidity and stability, and strong robustness

Inactive Publication Date: 2017-11-21
HANGZHOU DIANZI UNIV
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Problems solved by technology

[0002] In recent years, with the continuous advancement of the Made in China 2025 strategy, in the process of transformation and upgrading of my country's manufacturing industry, the phenomenon of machine substitution has become more and more popular, and the application of industrial robots has become more and more extensive. At present, in terms of the performance of industrial robot servo systems The dynamic response ability is poor, and most of them only have analog and pulse control methods, which cannot meet the requirements of high-speed and high-precision robots. Therefore, it is very necessary to design an AC servo drive system for industrial robots
[0003] The permanent magnet synchronous motor has the characteristics of simple structure, reliable operation, low loss, and high efficiency. However, the working environment of industrial robots is complex and changeable, and the performance requirements for the drive motor system are high. The traditional PI-based vector control method cannot meet the high requirements of industrial robot motors. Performance requirements, so some advanced control strategies can be used in the field of industrial robots

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  • Fuzzy active disturbance rejection control method of permanent magnet synchronous motor used for industrial robots
  • Fuzzy active disturbance rejection control method of permanent magnet synchronous motor used for industrial robots
  • Fuzzy active disturbance rejection control method of permanent magnet synchronous motor used for industrial robots

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Embodiment Construction

[0045] Now in conjunction with accompanying drawing, the present invention is described in detail as follows:

[0046] A fuzzy active disturbance rejection control system for permanent magnet synchronous motors for industrial robots, including a core controller module, a current acquisition module and a communication module. The core controller module completes the control algorithm of the drive motor, generates PWM signals to control the motor drive, the current module collects the signals of the motor drive module, and the communication module connects the core controller module with the host computer.

[0047] The core controller module adopts the permanent magnet synchronous motor control method based on fuzzy active disturbance rejection control, first collects the rotor position signal of the motor servo system, and then uses the rotor position signal as the feedback signal of the fuzzy active disturbance rejection controller, and uses fuzzy reasoning Rules, establish a ...

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Abstract

The invention discloses a fuzzy active disturbance rejection control method of a permanent magnet synchronous motor used for industrial robots. The method comprises the following steps: collecting the rotor position signals of a motor servo system, then using the rotor position signals as the feedback signals of an active disturbance rejection controller, using a fuzzy inference rule, establishing a fuzzy rule control table, and realizing high precision control for the motor servo system through automatic adjustment of parameters and compensation for system disturbance. A traditional vector-controlled PI adjustment method is replaced by using the fuzzy active disturbance rejection control method, the rapidity and stability of a driving system of the permanent magnet synchronous motor used for industrial robots are improved, and the precision and disturbance rejection capacity of the system are improved.

Description

technical field [0001] The invention belongs to the technical field of industrial robot servo motor design, and in particular relates to a fuzzy active disturbance rejection control method for a permanent magnet synchronous motor used in an industrial robot. Background technique [0002] In recent years, with the continuous advancement of the Made in China 2025 strategy, in the process of transformation and upgrading of my country's manufacturing industry, the phenomenon of machine substitution has become more and more popular, and the application of industrial robots has become more and more extensive. At present, in terms of the performance of industrial robot servo systems The dynamic response ability is poor, and most of them only have analog and pulse control methods, which cannot meet the requirements of high-speed and high-precision robots. Therefore, it is very necessary to design an AC servo drive system for industrial robots. [0003] The permanent magnet synchronou...

Claims

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Application Information

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IPC IPC(8): H02P21/00
CPCH02P21/001
Inventor 刘栋良赵珅崔丽丽赵冉
Owner HANGZHOU DIANZI UNIV
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