CN114499304A - Torque coupling compensation control method based on segmented motor - Google Patents
Torque coupling compensation control method based on segmented motor Download PDFInfo
- Publication number
- CN114499304A CN114499304A CN202210167371.3A CN202210167371A CN114499304A CN 114499304 A CN114499304 A CN 114499304A CN 202210167371 A CN202210167371 A CN 202210167371A CN 114499304 A CN114499304 A CN 114499304A
- Authority
- CN
- China
- Prior art keywords
- motor
- segmented
- segmented motor
- torque
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 51
- 238000010168 coupling process Methods 0.000 title claims abstract description 51
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 238000012937 correction Methods 0.000 claims abstract description 6
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 abstract description 21
- 238000010586 diagram Methods 0.000 description 3
- 230000005520 electrodynamics Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A torque coupling compensation control method based on a segmented motor relates to the technical field of photoelectric precision tracking control, solves the problem of poor torque synchronism of the output of each segmented motor of a permanent magnet synchronous segmented motor, and comprises the following steps: comparison iqxAnd
obtaining a feedback error ex(ii) a Comparing current i of the x-th segmented motorqxAnd the current of a segment of the segmented motor adjacent to the x-th segment of the segmented motor obtains a synchronous error exy(ii) a First, thex number of adaptively coupled controllers according to exAnd exyCalculating to obtain a current correction iqcxThe xth driver is based on the current reference command of the segmented motor, iqxAnd iqcxAnd calculating to obtain the second control information of the section x of the segmented motor. The invention can inhibit the problem of asynchronous current response caused by different sectional motor model parameter differences, driver differences or different working conditions, reduce the phenomenon of motor output torque mismatch, and improve the stable running capability and tracking precision of the telescope.
Description
Technical Field
The invention relates to the technical field of photoelectric precision tracking control, in particular to a torque coupling compensation control method based on a segmented motor.
Background
With the increasing aperture of the astronomical telescope, the volume and inertia of the load of the astronomical telescope are increased, and the application requirements of the astronomical telescope cannot be met by the traditional driving mode adopting the worm gear. Therefore, the driving mode of the large-caliber astronomical telescope gradually moves towards the trend of direct driving and brushless. Different from the traditional integral motor, the permanent magnet synchronous motor can be made into a linear motor, the linear motor is segmented to form an annular splicing motor, the multi-segment segmented motor forms a permanent magnet synchronous segmented motor, and the telescope with larger size and inertia can be driven, so that the permanent magnet synchronous segmented motor becomes the first choice of a new generation of large-caliber telescope driving motor.
However, for the servo control of the telescope, a load is driven by a multi-section segmented motor together, the same position feedback element is used together, and the control structure can be understood as a uniform position loop, a uniform speed loop and a plurality of different current loops to control an inertial system to carry out follow-up control. The existing control scheme is that each segmented motor is provided with a set of independent current controllers, information interaction does not exist among the segmented motors, closed-loop operation is carried out through an integral speed ring of a system, a unified current control instruction is output, the current instruction is respectively transmitted to each independent current controller, and the current controller of each segmented motor independently carries out current closed-loop control. Because each section of motor can have certain difference in production and manufacturing, and because the position in drive structure is different, the parameter variation that receives different operating modes to produce is also different. Therefore, in practical control, the current response of each segmented motor is different, and the output torque will have the problem of asynchronization.
Disclosure of Invention
The invention provides a torque coupling compensation control method based on a segmented motor, aiming at solving the problem of poor output torque synchronism among the segmented motors of the existing permanent magnet synchronous segmented motor.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the torque coupling compensation control method based on the segmented motor comprises the following steps:
step one, the xth control driver is used for controlling the current reference instruction of the segmented motor according to the current reference instruction of the segmented motor
And feedback current i of the x-th segment segmented motorqxCalculating to obtain the first section of the sectional motor control information, wherein x is a positive integer;
step two, inputting the control information I of the section x of the segmented motor to the section x of the segmented motor;
step three, comparing iqxAnd
obtaining a feedback error ex(ii) a Comparing current i of the x-th segmented motorqxAnd the current of a segment of the segmented motor adjacent to the x-th segment of the segmented motor obtains a synchronous error exy；
Step four, the xth coupling controller is according to exAnd exyCalculating to obtain a current correction iqcx；
Step five, the xth control driver is based on
iqxAnd iqcxCalculating to obtain the second control information of the x-th section of the segmented motor;
step six, inputting the control information of the section x segmented motor to the section x segmented motor;
and step seven, returning to the step three until the moment coupling compensation control is finished.
The invention has the beneficial effects that:
the torque coupling compensation control method based on the segmented motor can inhibit the problem of asynchronous current response caused by different model parameter differences, different control drivers or different working condition differences of the segmented motors at all segments, reduce the phenomenon of mismatching of the output torque of the motor, and improve the stable running capability and tracking accuracy of the telescope
Drawings
Fig. 1 is a schematic diagram of a closed loop structure of a segmented motor motion control system.
Fig. 2 is a structural diagram of a torque control loop of a segment motor based on the torque coupling compensation control method of the segment motor.
Fig. 3 is a closed-loop frequency characteristic curve of a motor current loop controller based on the torque coupling compensation control method of the segmented motor.
Fig. 4 shows the current output response of each segment of the segmented motor in the ideal case of the torque coupling compensation control method based on the segmented motor.
Fig. 5 shows the current output response of each segment of the segmented motor in the case of parameter mismatch and variation by the conventional method.
Fig. 6 shows the current output response of each segment of the segmented motor when the torque coupling compensation control method based on the segmented motor of the present invention is adopted under the condition of mismatching and changing parameters.
Fig. 7 is a graph of the current output response of a segmented motor for each segment using conventional methods with perturbation added.
Fig. 8 shows the current output response of each segment of the segmented motor by using the torque coupling compensation control method based on the segmented motor under the condition of adding disturbance.
FIG. 9 is a response of a system tracking speed command based on the torque coupling compensation control method of the segmented motor according to the present invention.
FIG. 10 is a system q-axis total current response of the torque coupling compensation control method based on the segmented motor according to the invention.
Detailed Description
The torque coupling compensation control method based on the segmented motor of the present invention is further described in detail with reference to the accompanying drawings and embodiments.
The permanent magnet synchronous segmented motors drive an inertial load (namely a large-caliber telescope) to rotate together. The permanent magnet synchronous segmented motor comprises n segments of segmented motors, wherein n is an integer larger than 2, stators of the n segments of segmented motors are sequentially arranged along a circle, namely the n segments of segmented motors surround a circular structure and are equivalent to an annular integral stator, the integral stators are provided with the same permanent magnet rotor, and the rotor drives an inertial load to move.
The closed loop structure of the existing segmental motor motion control system is shown in figure 1, the motion control of the mechanical part of the inertial motion system (the inertial motion system comprises a permanent magnet synchronous segmental motor and a large-caliber telescope) is completed by a speed ring and a position ring, and the torque output of each segmental motor is controlled by a segmental motor torque control ring. The control structure of the position loop includes a position controller and the control structure of the velocity loop includes a velocity controller. The input signals of the position loop are position commands and position feedback information, and the input signals are speed loop commands through closed loop correction; the input signal of the speed loop is a speed loop command and speed feedback information, and the speed loop command and the speed feedback information are output as a current reference command of the torque loop through closed loop correction. The torque control of the segmented motor is realized through a segmented motor torque control loop, the segmented motor torque control loop is used for finishing current closed-loop control and power drive of the multi-segment motor system, and finally, a matched total torque is output to drive the motor system to operate according to a motion instruction.
The drive control structure of the segmented motor torque control ring adopts an annular coupling drive structure, namely the segmented motor torque control ring comprises n control drivers, the n control drivers correspond to the n segmented motors one by one, each segmented motor is provided with one control driver, each control driver can complete the functions of vector transformation, current closed-loop control, power drive, torque output and the like of the corresponding segmented motor, and the series of processes can be collectively called as torque control of the motors. The control model of the control driver comprises a current loop controller, an inverter equivalent model and a motor electrodynamic equivalent model, wherein the current loop controller is used for controlling the current closed-loop control of the segmented motor, the inverter equivalent model is used for the power drive of the segmented motor, and the motor electrodynamic equivalent model is used for controlling the torque output of the segmented motor. Through the design of a control algorithm, the control driver can complete the torque control of the permanent magnet synchronous segmented motor.
The inverter model of the control drive is equivalent to
The electromechanical dynamics model of the control driver is equivalent to
The mechanical model of the inertial motion system is equivalent to
Wherein, TwIs the equivalent time constant of the inverter, s is the stator, LsxThe inductance of the stator of the x-th section of the segmented motor is shown, x is a positive integer, RsxThe resistance value of the x-th section of the segmented motor stator is shown, J is the rotational inertia of the inertial motion system, and B is the viscous friction coefficient of the inertial motion system. In addition, KtxFor the moment coefficient of the sectional motor of the x-th section, KbxThe back electromotive force coefficient of the section x of the segmented motor, theta is the position information of the inertial motion system, omega is the speed information of the inertial motion system, ixFor segmenting the current of the machine for the x-th segment, theta*Referencing position information, omega, for inertial motion systems*The velocity information is referenced for the inertial motion system,
for segmenting the current reference command of the machine, TexFor the output torque, T, of the sectional motor of the x-th sectioneFor output torque, T, of a permanent-magnet synchronous segmented motorLFor moment of inertia of system load, TdDisturbance torque for an inertial motion system.
The current loop controller can adopt a zero pole configuration method, a model prediction control method and the like to form a controller according to an electrodynamic model of the motor, an output action signal is acted on a stator end of the segmented motor through an inverter in a control driver, current is generated in an electronic winding, driving moment is generated under the action of a magnetic field, and an inertial load acting on an inertial motion system moves.
Aiming at the special structure of the segmented motor, if each segmented motor is provided with a set of independent control drivers and has no information interaction with each other, closed-loop operation is carried out through a speed ring of the whole inertial motion system, a uniform current control instruction is output, the current instruction is respectively transmitted to each independent current controller, and the current controller of each segmented motor carries out independent current closed-loop control, so that once parameter difference occurs, different current controllers inevitably cause different current response results, further output torques of each segmented motor are not matched, and tracking precision is reduced. Therefore, in the present invention, a structure diagram of a segmented motor torque control loop of a ring coupling topology design system is shown in fig. 2, an xth control driver is called a control driver x, an xth segmented motor is called a segmented motor x, an xth coupling controller is called a coupling controller x, and a coupling compensation method for a segmented motor torque control loop based on a permanent magnet synchronous segmented motor includes the following steps:
step one, the xth control driver is used for controlling the current reference instruction of the segmented motor according to the current reference instruction of the segmented motor
Feedback current i of x-th segment segmented motorqxAnd calculating to obtain the first control information of the section x.
Step two, inputting the control information I of the section x of the sectional motor to the section x of the sectional motor, and outputting the output torque T of the section x of the sectional motorexUnknown disturbance torque T of the x-th section segmented motordxAnd T of the output of the x-th segment segmented motorexThe output torque of all the segmented motors and the unknown disturbance torque act on the inertial load.
Step three, comparing iqxAnd
obtaining a feedback error ex，exIs iqxAnd
the difference value of (a) can be obtained by the xth control driver and sent to the coupling controller, or can be calculated by other devices to obtain exThen sending the data to the xth control driver and the xth coupling controller; the xth coupling controller compares the current i of the xth segmented motorqxAnd the current of a segment of the segment motor adjacent to the x-th segment of the segment motor (the current i of the y-th segment motor)qyY is a positive integer) to obtain a synchronization error exy(ii) a Preferably, the 'segment of segmented motors adjacent to the x-th segment of segmented motors' are all segmented motors on the left side of the x-th segment of segmented motors or are all segmented motors on the right side of the x-th segment of segmented motors; e in FIG. 212Indicating that comparing the current of the segment 1 motor with the current of the segment 2 motor results in a synchronization error, e23Indicating that the current of the segment 2 segmented motor and the current of the segment 3 segmented motor are compared to obtain a synchronization error, en1The method shows that the current of the segment n segmented motor and the current of the segment 1 segmented motor are compared to obtain the synchronization error.
Step four, the xth coupling controller is according to exAnd exyCalculating to obtain a current correction iqcx。
Step five, the xth control driver is based on
iqxAnd iqcxCalculating to obtain the second control information of the x-th section of the segmented motor;
inputting the control information of the section x motor obtained by the operation in the step five into the section x motor corresponding to the control driver in the step five, and outputting the output torque T by the section x motorexUnknown disturbance torque T of the x-th section segmented motordxAnd T of the output of the x-th segment segmented motorexActing on the inertial load.
And step seven, returning to the step three to re-execute the steps three to seven until the moment coupling compensation control is finished when the permanent magnet synchronous segmented motor stops working.
The coupling controller is an adaptive coupling controller, coupling controlThe system comprises an operational gain, and the coupling controller can be used for controlling the feedback error exAnd synchronization error exyAdjusting an operational gain KxThe coupling compensation effect is enhanced when the synchronization error is larger, and the coupling interference is reduced when the synchronization error is smaller.
The torque coupling compensation control method based on the segmented motor can inhibit the problem of asynchronous current response caused by different model parameter differences, different control drivers or different working condition differences of the segmented motors at all the segments, reduce the phenomenon of mismatching of the output torque of the motor and improve the stable running capability and tracking accuracy of the telescope.
The torque control loop of the segmented motor comprises n control drivers and n coupling controllers, wherein the n coupling controllers and the n control drivers are arranged in a one-to-one correspondence mode, the n coupling controllers and the n segmented motors are arranged in a one-to-one correspondence mode, the x-th control driver is connected with the x-th segmented motor, and the x-th coupling controller is connected with the x-th segmented motor and the x-th control driver.
The method is verified by simulation software, the number of the segments of the permanent magnet synchronous segmented motor is 4, the theoretical parameters of each segment of the segmented motor are consistent, the resistance value is 1.4 omega, the inductance value is 44.33mL, the torque constant is 201Nm/A, the switching frequency of the inverter is 10kHz, and the bus voltage is set to be 220V. When each section of control driver is designed, the parameter difference and the change of the motor are unknown, the control parameters of the current loop controller are obtained only by designing according to theoretical values and adopting a zero-pole configuration method, the open-loop frequency domain characteristic curve of the inertial motion system is shown in figure 3, a step instruction of +/-1A is given, and the current output response of each section of the segmented motor under the ideal condition is shown in figure 4. The response is ideal, and the response of each segment of the segmented motor is smooth and consistent. Further, simulating the difference or change of system model parameters in actual use in simulation, setting the resistance value of the first-stage segmented motor to be 1.4 omega, the inductance value to be 38.33mL, the moment constant to be 201Nm/A, the resistance value of the second-stage segmented motor to be 2.4 omega, the inductance value to be 44.33mL, the moment constant to be 201Nm/A, the resistance value of the third-stage segmented motor to be 1.0 omega, the inductance value to be 44.33mL, the moment constant to be 201Nm/A, the resistance value of the fourth-stage segmented motor to be 1.4 omega, the inductance value to be 44.33mL and the moment constant to be 180 Nm/A. When the traditional parallel independent controller is adopted, as shown in fig. 5, the output current response of each segmented motor is different, and the moment synchronism of the inertial motion system is influenced. When the torque control loop and the coupling compensation method of the segmented motor are adopted, the output current response of each segmented motor tends to be synchronous, and the effect is shown in figure 6. Furthermore, the disturbance of amplitude 0.2A, frequency 5rad/s, phase angle pi/2, amplitude 0.1A, frequency 5rad/s, phase angle pi, amplitude 0.1A, frequency 5rad/s and phase angle pi is added into each section of segmented motor control loop respectively to simulate the moment fluctuation in the actual operation of the system. Fig. 7 shows the output current response of the motor when the conventional parallel independent controller is adopted, the fluctuation peak value is about 0.01A, fig. 8 shows the output current response of the motor when the structure and the method are adopted, the fluctuation peak value is reduced to 0.005A, the phase is further reduced, the synchronism of each section of the motor is enhanced, and a basic condition is provided for adopting a control algorithm for inhibiting periodic disturbance. Fig. 9 and 10 show the response result of the system tracking speed command and the system q-axis total current response by using the method of the present invention.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. The torque coupling compensation control method based on the segmented motor is characterized by comprising the following steps of:
step one, the xth control driver is used for controlling the current reference instruction of the segmented motor according to the current reference instruction of the segmented motor
And feedback current i of the x-th segment segmented motorqxCalculating to obtain the first section of the sectional motor control information, wherein x is a positive integer;
step two, inputting the control information I of the section x of the segmented motor to the section x of the segmented motor;
step three, comparing iqxAnd
obtaining a feedback error ex(ii) a Comparing current i of the x-th segmented motorqxAnd the current of a segment of the segmented motor adjacent to the x-th segment of the segmented motor obtains a synchronous error exy；
Step four, the xth coupling controller is according to exAnd exyCalculating to obtain a current correction iqcx；
Step five, the xth control driver is based on
iqxAnd iqcxCalculating to obtain the second control information of the x-th section of the segmented motor;
step six, inputting the control information of the section x motor to the section x motor;
and step seven, returning to the step three until the moment coupling compensation control is finished.
2. The torque coupling compensation control method based on the segmented motor as claimed in claim 1, wherein the segmented motor adjacent to the x-th segmented motor is the segmented motor on the left side of the x-th segmented motor or the segmented motor on the right side of the x-th segmented motor.
3. The segment motor-based torque coupling compensation control method according to claim 1, wherein the coupling controller includes an operational gain, and the coupling controller is capable of responding to the feedback error exAnd synchronization error exyAdjusting an operational gain Kx。
4. The torque coupling compensation control method based on the segmented motor as claimed in claim 1, wherein the second step and the third step further comprise an x-th segmented motorOutput torque T of machineexAnd unknown disturbance torque T of the x-th section segmented motordxA step of acting on the inertial load, wherein the output torque T of the x-th segmented motor is also included between the step six and the step sevenexAnd unknown disturbance torque T of the x-th section segmented motordxA step acting on the inertial load.
5. The torque coupling compensation control method based on the segmented motor as claimed in claim 1, wherein the torque control of the segmented motor is implemented by a segmented motor torque control loop, the segmented motor torque control loop comprises n control drivers and n adaptive coupling controllers, the permanent magnet synchronous segmented motor comprises n segmented motors, the n adaptive coupling controllers, the n control drivers and the n segmented motors are arranged in a one-to-one correspondence manner, the x control driver is connected with the x segmented motor, and the x adaptive coupling controller is connected with the x segmented motor and the x control driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210167371.3A CN114499304A (en) | 2022-02-23 | 2022-02-23 | Torque coupling compensation control method based on segmented motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210167371.3A CN114499304A (en) | 2022-02-23 | 2022-02-23 | Torque coupling compensation control method based on segmented motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114499304A true CN114499304A (en) | 2022-05-13 |
Family
ID=81482867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210167371.3A Pending CN114499304A (en) | 2022-02-23 | 2022-02-23 | Torque coupling compensation control method based on segmented motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114499304A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112448632A (en) * | 2020-11-12 | 2021-03-05 | 湘潭大学 | Novel SPMSM sensorless compound control method of double-sliding-mode observer |
-
2022
- 2022-02-23 CN CN202210167371.3A patent/CN114499304A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112448632A (en) * | 2020-11-12 | 2021-03-05 | 湘潭大学 | Novel SPMSM sensorless compound control method of double-sliding-mode observer |
Non-Patent Citations (1)
| Title |
|---|
| 王聪: "基于协同控制理论的多电机同步协调控制技术研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》, no. 6, 15 June 2020 (2020-06-15), pages 042 - 138 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Sakunthala et al. | A review on speed control of permanent magnet synchronous motor drive using different control techniques | |
| CN112886893B (en) | Switched reluctance motor torque control method and system based on turn-off angle optimization | |
| CN101814892A (en) | Support vector machine inverse system composite controller based on bearingless synchronous reluctance motor | |
| CN110401392A (en) | A kind of MPC control method of new-energy automobile motor | |
| CN115459667B (en) | Permanent magnet synchronous motor sensorless sliding mode control method based on improved approach law | |
| CN101789734A (en) | Arc line driving control system of large astronomical telescope | |
| CN115694289A (en) | Active disturbance rejection display model prediction direct speed control method of permanent magnet synchronous motor | |
| CN110474576B (en) | Humanoid intelligent rotating speed control method for brushless direct current motor | |
| CN110429878B (en) | Double-active-disturbance-rejection control method for stepping motor type electro-mechanical converter | |
| Liu et al. | Active disturbance rejection control of a magnetic screw motor for high tracking performance | |
| CN114499304A (en) | Torque coupling compensation control method based on segmented motor | |
| Lisauskas et al. | Direct torque control of induction drive using fuzzy controller | |
| CN110739543B (en) | 8 motor drive control method of large-aperture antenna | |
| Aroussi et al. | Contribution to the enhancement of dual DTC Application: Doubly fed induction motor | |
| CN112072973A (en) | Permanent magnet synchronous motor overtorque sliding mode control method based on prediction self-adaptation law | |
| CN113343592B (en) | Intelligent control method for DQN (direct current) of permanent magnet synchronous motor of new energy aircraft | |
| Nguyen | The linear quadratic regular algorithm-based control system of the direct current motor | |
| CN113467229A (en) | AC servo driving method | |
| Liang et al. | Dual-redundancy PMSM servo system: using single neuron PID controller | |
| CN107800334B (en) | A kind of coaxial progress control method of PMSM presynchronization and system | |
| Ahmed et al. | New approach for position control of induction motor | |
| CN105186951A (en) | Four-closed-loop stepping servo control method | |
| Li et al. | Brushless DC Motor control strategy for electric vehicles | |
| Shanmugasundram et al. | Compensator design by pole-zero adjustment for a typical position control system | |
| CN116317761B (en) | Variable capacitance driving motor torque control method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |