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Permanent magnet synchronous motor L1 adaptive iterative learning control method

An adaptive iterative and learning control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of dynamic parameter uncertainty PMSM difficult to achieve ideal performance and so on

Active Publication Date: 2021-12-07
DALIAN JIAOTONG UNIVERSITY
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Problems solved by technology

[0003] The purpose of the present invention is to provide a permanent magnet synchronous motor L1 adaptive iterative learning control method, which combines L1 adaptive control with ILC to solve the problem that the uncertainty of dynamic parameters brings to PMSM and it is difficult to achieve ideal performance.

Method used

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  • Permanent magnet synchronous motor L1 adaptive iterative learning control method
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  • Permanent magnet synchronous motor L1 adaptive iterative learning control method

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Experimental program
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Embodiment

[0022] 1. Establish the PMSM mathematical model

[0023] In order to obtain good control performance, field oriented vector control of PMSM is performed using i d = 0, so that the current vector and the permanent magnet magnetic field are orthogonal in space, then the torque equation of PMSM is

[0024]

[0025] Among them, T e is the electromagnetic torque; p is the number of pole pairs; ψ f is the permanent magnet flux linkage; i q is the q-axis stator current; K t is the torque coefficient. Its mechanical equation of motion is

[0026]

[0027] Among them, ω is the angular velocity of the rotor; J is the moment of inertia; T L for the load disturbance. The friction model is expressed as Stribeck model

[0028] T fri =[T c +(T m -T c )e -a|ω| ]sgn(ω)+Bω (3)

[0029] Among them, T fri is the friction torque; T m is the maximum static friction torque; T c is the Coulomb friction torque; a is a very small positive number; B is the viscous friction coeffic...

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Abstract

The invention discloses a permanent magnet synchronous motor L1 adaptive iterative learning control method, which comprises the following steps of: establishing a mathematical model of a PMSM, and on the basis of the mathematical model, designing an L1 adaptive learning controller as a feedback controller to compensate non-repetitive uncertainty of a system in a time domain so as to ensure the performance of the system along a time axis; and compensating system repetition uncertainty in an iteration domain by utilizing ILC, tracking a periodic input signal, and enabling an error to converge along an iteration axis. According to the permanent magnet synchronous motor L1 adaptive iterative learning control method adopting the above structure, L1 adaptive control is combined with ILC, and the problem that it is difficult to achieve ideal performance of a PMSM due to uncertainty of dynamic parameters is solved.

Description

technical field [0001] The present invention relates to the field of permanent magnet synchronous motor control methods, in particular to an adaptive iterative learning control method for permanent magnet synchronous motor L1. Background technique [0002] Permanent magnet synchronous motor (permanent magnet synchronous motor, PMSM) has the characteristics of small size, low loss and high efficiency. With the rapid development of power electronics technology and microelectronics technology, and the emergence of rare earth permanent magnet materials, PMSM is widely used in precision manufacturing, automotive, aerospace and other high-precision motion control system industries. Permanent magnet synchronous motor (PMSM) has been widely used in high-precision motion control systems. When the PMSM high-precision motion control system is running, it is required to have precise position response tracking capabilities and the ability to quickly suppress external disturbances and lo...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 盛虎邢晓慧
Owner DALIAN JIAOTONG UNIVERSITY
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