CN103208958A - DC (direct control) servo drive control system - Google Patents

DC (direct control) servo drive control system Download PDF

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Publication number
CN103208958A
CN103208958A CN2013100928858A CN201310092885A CN103208958A CN 103208958 A CN103208958 A CN 103208958A CN 2013100928858 A CN2013100928858 A CN 2013100928858A CN 201310092885 A CN201310092885 A CN 201310092885A CN 103208958 A CN103208958 A CN 103208958A
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circuit
signal
servo
control
driving control
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汪常明
胡书举
张雷
夏安俊
赵斌
许洪华
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Institute of Electrical Engineering of CAS
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Institute of Electrical Engineering of CAS
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Abstract

An DC servo drive control system consists of a data acquisition circuit, a DSP (Digital Signal Processor) CUP (central processing unit) and a PWM (Pulse-Width Modulation) power output circuit, wherein the DSP CUP includes a second order active-disturbance-rejection controller and a PI (proportional-integral) controller. The input end of the DSP CUP receives a velocity set value sent by an upper computer and an DC servo-motor velocity feedback value and a current feedback value which are sent by an external sensor in a feedback mode, and the velocity set value, the DC servo-motor velocity feedback value and the current feedback value are output to the PWM power output circuit after being processed by the DSP CUP; and the output end of the PWM power output circuit is connected with an DC servo-motor which is the controlled object of the DC servo drive control system. The input end of the data acquisition circuit is connected with the external sensor, the output end of the data acquisition circuit is connected with the input end of the DSP CUP, the data of the DC servo-motor collected by the external sensor are transmitted to the PWM power output circuit after being sent to the DSP CUP for being processed through the data acquisition circuit, and the WM power output circuit outputs control signals to control the DC servo-motor.

Description

A kind of DC servo driving control system
Technical field
The present invention relates to a kind of DC servo driving control system based on automatic disturbance rejection controller.
Background technology
The DC servo drive system of some application scenario requires that control system has rapid dynamic response speed, lasting accuracy is high and characteristics, for example wind-powered electricity generation unit electric variable pitch servo drive system such as anti-load and parameter perturbation ability be strong.In servo drive system, the easy temperature influence of the resistance value of operating motor armature winding and inductance value, the parameter of electric machine that different manufacturers provide also has difference, and the influence of these factors can reduce conventional PID closed-loop control system performance.Though conventional PID controller can satisfy stable state accuracy height, the fast requirement of dynamic response, and is relatively poor aspect anti-load and parameter of electric machine disturbance ability.
The structure of the servo-drive control system of prior art as shown in Figure 2, formed by data acquisition circuit, DSP central processing unit and pwm power output circuit, comprise two PI controllers in its DSP central processing unit, one of them is der Geschwindigkeitkreis PI controller, and another is electric current loop PI controller.Such control system structure can satisfy stable state accuracy height, the fast requirement of dynamic response, but for the control system deleterious aspect that factors such as object parameters disturbance, the fluctuation of load cause, lacks certain disturbance rejection ability.
Chinese patent CN201039069Y, CN102811015A and CN101499769A, and " based on the direct current double loop speed-regulating system of automatic disturbance rejection controller " (Xu Han, Xu Yu, monarch Liu De .[J]. the chemical industry technology, 2004,06 (12): main thought 42-44) is that automatic disturbance rejection controller directly or after simplifying transformation is applied to control system, it is fast to have response speed, characteristics such as the disturbance rejection ability is strong, control object mostly is alternating current machine or excitation unit etc. greatly, the article that several pieces of writing relate to direct current machine also only stays in the simulation study stage, the practical application of the DC servo driving control system of shorter mention high performance requirements.
Summary of the invention
The objective of the invention is to overcome the deficiency of above-mentioned existing conventional PID control technology, in conjunction with the advantage of automatic disturbance rejection controller, provide a kind of DC servo driving control system based on automatic disturbance rejection controller.The present invention utilizes automatic disturbance rejection controller to the total disturbance quantity of DC servo driving control system, be external loading disturbance and inner parameter disturbance, estimate in real time and compensate control by feedback, can reduce external disturbance and internal disturbance to the control system Effect on Performance, obtain fast, the good control effect of non-overshoot, high accuracy, strong robustness.
Technical scheme of the present invention is as follows:
A kind of DC servo driving control system based on automatic disturbance rejection controller is characterized in that this system mainly is made up of data acquisition circuit, DSP central processing unit and pwm power output circuit.The input of described DSP central processing unit receives the speed set-point of host computer (as PLC or computer) transmission and DC servo-motor speed feedback value, the current feedback value of being fed back by external sensor, after the DSP central processing unit is handled, export the pwm power output circuit to, the output of pwm power output circuit is connected to the control object DC servo-motor of described DC servo driving control system.The input of described data acquisition circuit connects external sensor, and as photoelectric encoder, current sensor etc., external sensors such as photoelectric encoder, current sensor are gathered the data of DC servo-motor, send into described data acquisition circuit.The output of data acquisition circuit connects the input of DSP central processing unit, after the data of the DC servo-motor of external sensor collection are sent into the processing of DSP central processing unit via data acquisition circuit, be sent to the pwm power output circuit, by pwm power output circuit output control signal control DC servo-motor.
Described data acquisition circuit mainly comprises signal pre-processing circuit and A/D modular converter.Signal pre-processing circuit comprises switching value pre-process circuit and analog quantity pre-process circuit, the switching value pre-process circuit adopts conventional photoelectric isolating circuit, by photoelectric isolating device be of coupled connections from the external switch amount signal of devices such as contactor, relay, convert the switching value signal to digital signal input DSP central processing unit.The analog quantity pre-process circuit will comprise the signal of telecommunication that the input signal preliminary treatment of two kinds of basic analog quantitys of electric current and voltage of DC servo-motor becomes the A/D modular converter to receive.The analog quantity pre-process circuit connects the A/D modular converter, and the analog signal that preliminary treatment is intact becomes digital signal to be sent to the DSP central processing unit via the A/D module converts.
What described DSP central processing unit adopted is the TMS320F28335 model chip that TI company produces, and this chip has fast, the stable characteristics of the speed of service, can improve the response speed of control system greatly.Described DSP central processing unit comprises second order automatic disturbance rejection controller and PI controller, and the second order automatic disturbance rejection controller is finished the computing of DC servo driving control system der Geschwindigkeitkreis, and the PI controller is finished the computing of DC servo driving control system electric current loop.
Described pwm power output circuit drives amplifying circuit by signal and the IGBT rectification circuit constitutes.Pwm control signal by the output of DSP central processing unit carries out power amplification through signal driving amplifying circuit, exports to the IGBT unit in the IGBT rectification circuit, controls the break-make of the IGBT in the corresponding IGBT unit, thus the armature voltage of control DC servo-motor.
Described second order automatic disturbance rejection controller is a kind of gamma controller that is is directly connected and composed by tracking-differentiator (TD), extended state observer (ESO) and nonlinearity erron FEEDBACK CONTROL rule (NLSEF) three parts.Tracking-differentiator (TD) is used for arranging transient process, follows the tracks of given signal and the micro component thereof of described DC servo driving control system input.Extended state observer (ESO) is used for output signal and the micro component thereof of the described DC servo driving control system output of observation, and estimates total disturbance quantity of described DC servo driving control system.To follow the tracks of-differentiator the input signal of (TD) output and output signal and the micro component thereof of micro component and extended state observer (ESO) feedback thereof and do difference operation respectively, and in nonlinearity erron FEEDBACK CONTROL rule (NLSEF), carry out nonlinear combination and control being result that difference operation obtains respectively for above-mentioned twice.Total disturbance quantity that output variable and the extended state observer of nonlinearity erron FEEDBACK CONTROL rule feeds back is done difference operation, and this is the difference operation result does compensation control divided by automatic disturbance rejection controller parameter tuning value b0, control signal after the compensation is connected to the input of PI controller by the output of second order automatic disturbance rejection controller, exports the input of pwm power output circuit to through PI controller calculated result.
Described PI controller adopts with the saturated conventional PI controller of anti-integration and constitutes, and has that response speed is fast, the characteristics of output variable amplitude limit.
Described second order automatic disturbance rejection controller implementation method such as following in the DSP central processing unit;
DC servo driving control system of the present invention reads in the rotary speed setting value of host computer (as PLC or computer) communications and the speed feedback value that external sensor transmits; Do computing by tracking-differentiator (TD) respectively then and follow the tracks of rotary speed setting value and differential signal thereof, do computing by extended state observer (ESO) and follow the tracks of speed feedback value and differential signal thereof, and estimate total disturbance quantity of DC servo driving control system; The differential signal that rotary speed setting value and speed feedback value are done result that difference operation obtains and rotary speed setting value and these two signals of speed feedback value is the result that difference operation obtains and is carried out the nonlinear Control computing at last, and total disturbance quantity compensated control, export final controlled quentity controlled variable signal.
Be difficult for the difficult point that realizes at nonlinear function in the second order automatic disturbance rejection controller in the DSP central processing unit, described second order automatic disturbance rejection controller adopts the data link table look-up method, this method have easy realization, DSP occupancy low, carry out the high characteristics of efficient.The expression formula of nonlinear function is:
fal ( e , α , δ ) = e δ α - 1 , | e | ≤ δ | e | α · sign ( e ) , | e | > δ δ > 0
In the formula, e represents error amount, and δ and α are the automatic disturbance rejection controller parameter.Parameter δ and α adjust finish after, can set up the exponential quantity of given and feedback signal error amount err and an Error Absolute Value | err| αData link table, by tabling look-up to realize the function of nonlinear function.The absolute value of error can be limited in it in interval (0,1) pointwise computation of table lookup then by getting method reciprocal greater than 1 o'clock.Take linear interpolation to improve precision between adjacent 2, interpolation arithmetic is linear interpolation method routinely Handle (x in the formula 1, y 1) and (x 2, y 2) be adjacent 2 coordinate figure, x represents abscissa value, y represents ordinate value.
The present invention is applied to DC servo driving control system der Geschwindigkeitkreis in the DSP central processing unit with the second order automatic disturbance rejection controller.Consider rapidity requirement, DC servo driving control system electric current loop adopts the PI controller.At first finish signal and data collection task by data acquisition circuit; In the DSP central processing unit, controlled according to rotary speed setting value and speed feedback value by the second order automatic disturbance rejection controller, can be to total disturbance quantity of DC servo driving control system, be that external loading disturbance and inner parameter disturbance are estimated in real time, and compensate control by feedback, can obtain fast, the good control effect of non-overshoot, high accuracy, strong robustness.The output valve of DC servo driving control system der Geschwindigkeitkreis is given as electric current loop, does difference operation with the current feedback value and carries out PI control, exports controlled quentity controlled variable at last and generates pwm control signal; The driving that pwm control signal is finished the IGBT unit in the IGBT rectification circuit through the pwm power output circuit is controlled, and realizes the control to motor armature voltage, the final flexible control target that realizes DC servo-motor.
Superiority of the present invention is: 1. automatic disturbance rejection controller is applied to DC servo driving control system der Geschwindigkeitkreis control, has rotating speed output non-overshoot, response speed is fast, control precision is high, the anti-parameter of electric machine and the strong advantage of load disturbance ability; 2. the method that adopts data link table to table look-up realizes nonlinear function in the automatic disturbance rejection controller, has solved nonlinear function difficult problem that realizes in the DSP digital processing unit, has improved executing efficiency; 3. adopt high-speed floating point type DSP control chip TMS320F28335, the speed of service is fast, stable, can improve the response speed of control system greatly, satisfies the big characteristics of automatic disturbance rejection controller operand; 4. DC servo driving control system core algorithm is the dsp software realization of automatic disturbance rejection controller, does not need to change the hardware configuration of original DC servo driving control system.
Description of drawings
Fig. 1 the present invention is based on the DC servo driving control system block diagram of automatic disturbance rejection controller;
Fig. 2 prior art DC servo driving control system block diagram;
Fig. 3 second order automatic disturbance rejection controller structured flowchart;
Fig. 4 second order automatic disturbance rejection controller of the present invention DSP algorithm flow chart;
Fig. 5 second order automatic disturbance rejection controller of the present invention data link table look-up method flow chart.
Embodiment
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is the DC servo driving control system that the present invention is based on automatic disturbance rejection controller.This system mainly is made up of data acquisition circuit, DSP central processing unit and pwm power output circuit.The input of the DSP central processing unit of described DC servo driving control system based on automatic disturbance rejection controller receives DC servo-motor speed feedback value, the current feedback value that host computer (as PLC or computer) speed set-point and external sensor feed back, after the DSP central processing unit is handled, export the pwm power output circuit to, the output of pwm power output circuit is connected to the control object DC servo-motor of described DC servo driving control system.The input of described data acquisition circuit connects external sensor, and as photoelectric encoder, current sensor etc., external sensors such as photoelectric encoder, current sensor are gathered the data of DC servo-motor, send into described data acquisition circuit.The output of data acquisition circuit connects the input of DSP central processing unit, the data of the DC servo-motor that external sensor is gathered are after the DSP central processing unit is handled, be sent to the pwm power output circuit, pwm power output circuit output control signal control DC servo-motor.
Described data acquisition circuit mainly comprises signal pre-processing circuit and A/D modular converter.Signal pre-processing circuit comprises the pre-process circuit of switching value pre-process circuit and analog quantity, the switching value pre-process circuit adopts conventional photoelectric isolating circuit, by photoelectric isolating device be of coupled connections from the external switch amount signal of devices such as contactor, relay, convert the switching value signal to digital signal input DSP central processing unit.The analog quantity pre-process circuit will comprise the signal of telecommunication that the input signal preliminary treatment of two kinds of basic analog quantitys of electric current and voltage of DC servo-motor becomes the A/D modular converter to receive.The analog quantity pre-process circuit connects the A/D modular converter, and the analog signal that preliminary treatment is intact becomes digital signal to be sent to the DSP central processing unit via the A/D module converts.
What described DSP central processing unit adopted is the TMS320F28335 model chip that TI company produces, and this chip has fast, the stable characteristics of the speed of service, can improve the response speed of control system greatly.Described DSP central processing unit comprises second order automatic disturbance rejection controller and PI controller, and the second order automatic disturbance rejection controller is finished the computing of DC servo driving control system der Geschwindigkeitkreis, and the PI controller is finished the computing of DC servo driving control system electric current loop.
The pwm power output circuit of stating is to be made of signal driving amplifying circuit and IGBT rectification circuit.Pwm control signal by DSP output carries out power amplification through signal driving amplifying circuit, exports to the IGBT unit in the IGBT rectification circuit, controls the break-make of the IGBT in the corresponding IGBT unit, thus the armature voltage of control DC servo-motor.
Described second order automatic disturbance rejection controller is by a kind of gamma controller that directly connects and composes shown in Figure 3 by tracking-differentiator (TD), extended state observer (ESO) and nonlinearity erron FEEDBACK CONTROL rule (NLSEF) three parts.Tracking-differentiator (TD) is used for arranging transient process, follows the tracks of given signal and the micro component thereof of described DC servo driving control system input, and tracking results is respectively v1 and the v2 among the figure; Extended state observer (ESO) is used for output signal and the micro component thereof of the described DC servo driving control system output of observation, and tracking results is respectively z1 and the z2 among the figure, and estimates total disturbance quantity z3 of described DC servo driving control system; To follow the tracks of-differentiator the input signal of (TD) output and output signal and the micro component thereof of micro component and extended state observer (ESO) feedback thereof and do difference operation respectively, and in nonlinearity erron FEEDBACK CONTROL rule (NLSEF), carry out nonlinear combination and control being result that difference operation obtains respectively for twice; Total disturbance quantity z3 that output variable u0 and the extended state observer of nonlinearity erron FEEDBACK CONTROL rule fed back does difference operation, and this is the difference operation result does compensation control divided by automatic disturbance rejection controller parameter tuning value b0, control signal after the compensation is connected to the input of PI controller by the output of second order automatic disturbance rejection controller, exports the input of pwm power output circuit to through PI controller calculated result.
Described PI controller adopts with the saturated conventional PI controller of anti-integration and constitutes, and has that response speed is fast, the characteristics of output variable amplitude limit.
Implementation method is as shown in Figure 4 in the DSP central processing unit for described second order automatic disturbance rejection controller: read the rotary speed setting value v* of people's host computer (as PLC or computer) communications and the speed feedback value v that external sensor transmits by the DC servo driving control system; When sampling time of DSP then, calculated by tracking-differentiator (TD) and extended state observer (ESO) respectively and follow the tracks of rotary speed setting value and speed feedback value and their differential signal, i.e. v1, v2 and z1, z2 among the figure, wherein v1, v2 are respectively rotary speed setting value and differential signal thereof, z1, z2 are respectively speed feedback value and differential signal thereof, and estimate total disturbance quantity z3; Do difference then and calculate rotary speed setting value and the error of speed feedback value and the error of their differential signal, and these two error results that calculate are respectively carried out the nonlinear Control computing, output control component u0; At last total disturbance quantity z3 is compensated control, export final controlled quentity controlled variable signal u.
Be difficult for the difficult point that realizes at nonlinear function in the second order automatic disturbance rejection controller in the DSP central processing unit, described second order automatic disturbance rejection controller adopts the data link table look-up method, realizes the function of its nonlinear function, and data link table look-up method such as Fig. 5 show.This method has easy realization, low, the high characteristics of execution efficient of DSP occupancy.The expression formula of nonlinear function is:
fal ( e , α , δ ) = e δ α - 1 , | e | ≤ δ | e | α · sign ( e ) , | e | > δ δ > 0
In the formula, e represents error amount, and δ and α are the automatic disturbance rejection controller parameter.Parameter δ and α adjust finish after, can set up the exponential quantity of given and feedback signal error amount err and an Error Absolute Value | err| αData link table, by tabling look-up to realize the function of nonlinear function.The absolute value of error can be limited in it in interval (0,1) pointwise computation of table lookup then by getting method reciprocal greater than 1 o'clock.Take linear interpolation to improve precision between adjacent 2, interpolation arithmetic is linear interpolation method routinely Handle (x in the formula 1, y 1) and (x 2, y 2) be adjacent 2 coordinate figure, x represents abscissa value, y represents ordinate value.The concrete implementation of flow chart shown in Figure 5 is: at first the error signal of input is asked absolute value " err_abs ", piecewise function interval according to expression formula, judge the interval at " err_abs " place, if less than setting parameter delt, directly carry out division arithmetic and return result of calculation, " da " wherein calculates the constant value of finishing for this function is outside; Otherwise, whether judge " err_abs " less than 1, if less than 1, so directly table look-up, interpolation arithmetic, multiply by the end value of symbol decision function, return result of calculation; If be not less than 1, earlier this error amount is asked reciprocal, convert the number between (0,1) to, table look-up then, interpolation arithmetic, multiply by the end value of symbol decision function, and result of calculation is asked reciprocal again, return result of calculation.

Claims (6)

1. a DC servo driving control system is characterized in that described system mainly is made up of data acquisition circuit, DSP central processing unit and pwm power output circuit; The input of described DSP central processing unit receives the speed set-point of host computer transmission and DC servo-motor speed feedback value, the current feedback value of external sensor feedback, after the DSP central processing unit is handled, export the pwm power output circuit to, the output of pwm power output circuit is connected to the control object DC servo-motor of described DC servo driving control system; The input of described data acquisition circuit connects external sensor, and the data of the DC servo-motor of external sensor collection are sent into described data acquisition circuit; The output of data acquisition circuit connects the input of DSP central processing unit, after the data of the DC servo-motor of external sensor collection are sent into the processing of DSP central processing unit via data acquisition circuit, be sent to the pwm power output circuit, by pwm power output circuit output control signal control DC servo-motor.
2. DC servo driving control system as claimed in claim 1 is characterized in that described data acquisition circuit mainly comprises signal pre-processing circuit and A/D modular converter; Described signal pre-processing circuit comprises switching value pre-process circuit and analog quantity pre-process circuit, the switching value pre-process circuit by photoelectric isolating device be of coupled connections from the external switch amount signal of devices such as contactor, relay, convert the switching value signal to digital signal input DSP central processing unit; The analog quantity pre-process circuit will comprise the signal of telecommunication that the input signal preliminary treatment of two kinds of basic analog quantitys of electric current and voltage of DC servo-motor becomes the A/D modular converter to receive; The analog quantity pre-process circuit connects the A/D modular converter, and the analog signal that preliminary treatment is intact becomes digital signal to be sent to the DSP central processing unit via the A/D module converts.
3. DC servo driving control system as claimed in claim 1, it is characterized in that described DSP central processing unit comprises second order automatic disturbance rejection controller and PI controller, the second order automatic disturbance rejection controller is finished the computing of DC servo driving control system der Geschwindigkeitkreis, and the PI controller is finished the computing of DC servo driving control system electric current loop.
4. DC servo driving control system as claimed in claim 3 is characterized in that described second order automatic disturbance rejection controller is a kind of gamma controller that is is directly connected and composed by tracking-differentiator (TD), extended state observer (ESO) and nonlinearity erron FEEDBACK CONTROL rule (NLSEF) three parts; Tracking-differentiator (TD) is used for arranging transient process, follows the tracks of given signal and the micro component thereof of described DC servo driving control system input; Extended state observer (ESO) is used for output signal and the micro component thereof of the described DC servo driving control system output of observation, and estimates total disturbance quantity of described DC servo driving control system; To follow the tracks of-differentiator the input signal of (TD) output and output signal and the micro component thereof of micro component and extended state observer (ESO) feedback thereof and do difference operation respectively, and in nonlinearity erron FEEDBACK CONTROL rule (NLSEF), carry out nonlinear combination and control being result that difference operation obtains respectively for twice; Total disturbance quantity of the DC servo driving control system that the output variable of nonlinearity erron FEEDBACK CONTROL rule and extended state observer are fed back is done difference operation, and this is the difference operation result does compensation control divided by automatic disturbance rejection controller parameter tuning value b0, control signal after the compensation is connected to the input of PI controller by the output of second order automatic disturbance rejection controller, exports the input of pwm power output circuit to through PI controller calculated result.
5. as claim 3 or 4 described DC servo driving control systems, it is characterized in that method that described second order automatic disturbance rejection controller adopts data link table to table look-up realizes the function of its nonlinear function; The expression formula of nonlinear function is:
fal ( e , α , δ ) = e δ α - 1 , | e | ≤ δ | e | α · sign ( e ) , | e | > δ δ > 0
In the formula, e represents error amount, and δ and α are the automatic disturbance rejection controller parameter.Parameter δ and α adjust finish after, set up the exponential quantity of given and feedback signal error amount err and an Error Absolute Value | err| αData link table, by tabling look-up to realize the function of nonlinear function; The absolute value of error can be limited in it in interval (0,1) pointwise computation of table lookup then by getting method reciprocal greater than 1 o'clock.Take linear interpolation to improve precision between adjacent 2, interpolation arithmetic is linear interpolation method routinely Handle (x in the formula 1, y 1) and (x 2, y 2) be adjacent 2 coordinate figure, x represents abscissa value, y represents ordinate value.
6. DC servo driving control system as claimed in claim 1 is characterized in that described pwm power output circuit drives amplifying circuit by signal and the IGBT rectification circuit constitutes; Pwm control signal by the output of DSP central processing unit carries out power amplification through signal driving amplifying circuit, exports to the IGBT unit in the IGBT rectification circuit, controls the break-make of the IGBT in the corresponding IGBT unit, thus the armature voltage of control DC servo-motor.
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CN103501163A (en) * 2013-10-08 2014-01-08 洛阳师范学院 PWM power amplifier for antenna
CN103501163B (en) * 2013-10-08 2016-08-17 洛阳师范学院 A kind of pwm power amplifier being applied to antenna
CN104393756A (en) * 2014-12-05 2015-03-04 东南大学 Advanced control method for direct-current boost converter system
CN106100476A (en) * 2016-06-15 2016-11-09 常州工学院 Wind-power electricity generation output frequency modulation system
CN107994886A (en) * 2016-10-27 2018-05-04 北京遥感设备研究所 A kind of pulse width modulated power amplifier current loop circuit
CN106487291A (en) * 2016-12-08 2017-03-08 江苏富威能源有限公司 A kind of lithium electric driving control system
CN108196217A (en) * 2017-12-22 2018-06-22 中国电力科学研究院有限公司 A kind of DC measurement method and system for showing school instrument for off-board charger
CN109256989A (en) * 2018-10-16 2019-01-22 东北大学 A kind of brshless DC motor commutation torque ripple inhibition system and method

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Application publication date: 20130717