Permanent magnet synchronous motor position tracking control method based on event triggering

Abstract

The invention discloses a permanent magnet synchronous motor position tracking control method based on event triggering. The method comprises the following steps: establishing a kinetic model and an expected tracking trajectory of a permanent magnet synchronous motor; discretizing a permanent magnet synchronous motor system; designing an event triggering mechanism acting on a network channel between the controller and the actuator; designing a self-adaptive neural network controller based on event triggering; designing a disturbance observer; and designing a feedforward compensator for compensating matching and non-matching disturbance. According to the method designed by the invention, good position tracking performance and anti-interference capability can be obtained; in addition, a traditional permanent magnet synchronous motor time trigger control mode is popularized to an event trigger control mode, resources such as network bandwidth, calculation and energy of the permanent magnet synchronous motor networked control system are effectively saved, and the system can normally operate under the condition of network congestion.

Description

technical field [0001] The invention relates to the technical field of position tracking control of permanent magnet synchronous motors, in particular to an event-triggered based position tracking control method of permanent magnet synchronous motors. Background technique [0002] Permanent magnet synchronous motor is a motor in which the rotor excited by permanent magnets rotates synchronously with the stator space magnetic field. Compared with traditional electrically excited motors and induction motors, permanent magnet synchronous motors have significant advantages such as simple structure, small size, high efficiency, and high power density, and have been used in many applications in the fields of position control, drive traction, and high-efficiency power output. In addition, introducing the network into the control system to design a networked control system has changed the traditional point-to-point control method, which has broad development prospects and research s...

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Problems solved by technology

Aiming at the problem that the permanent magnet synchronous motor cannot be accurately modeled, this method uses the universal approximation theorem of the neural network, combined with the inverse design method to realize the adaptive neural network control; for the problem of limited network bandwidth resources, the method is between the controller and the actuator The network channel introduces an event trigger mechanism to reduce unnecessary signal transmission and achieve the purpose of effectively saving network bandwidth resources; in view of the problem of matching and non-matching disturbances in the permanent magnet synchronous motor control system, this method uses a disturbance observer to estimate the disturbance. Combined with the reverse push control method, the feedforward compensator is designed to improve the anti-interference ability of the system

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