CN106330038B - A kind of PMLSM sensorless strategy method based on adaptive gain sliding mode observer - Google Patents
A kind of PMLSM sensorless strategy method based on adaptive gain sliding mode observer Download PDFInfo
- Publication number
- CN106330038B CN106330038B CN201610928325.5A CN201610928325A CN106330038B CN 106330038 B CN106330038 B CN 106330038B CN 201610928325 A CN201610928325 A CN 201610928325A CN 106330038 B CN106330038 B CN 106330038B
- Authority
- CN
- China
- Prior art keywords
- sliding mode
- value
- mode observer
- alpha
- observer
- 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.)
- Active
Links
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
- 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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
-
- 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
- H02P25/06—Linear motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Linear Motors (AREA)
Abstract
The PMLSM sensorless strategy method based on adaptive gain sliding mode observer that the invention discloses a kind of, belongs to linear motor control technology field.In order to obtain the control signal of linear motor, the present invention design a kind of permanent magnetic linear synchronous motor sensorless strategy method based on adaptive gain sliding mode observer can in permanent magnetic linear synchronous motor control system there are Parameter Perturbations, it is realized in the case of load disturbance to the quick of linear motor counter electromotive force and mover speed and position of magnetic pole, accurate estimation, the anti-interference ability of system can be effectively improved, and pass through change sliding formwork switch function, improve sliding-mode surface, the inherent shortcoming that the method for designing adaptive gain weakens sliding mode observer is buffeted, improve the reliability of system.
Description
Technical field
The present invention relates to a kind of permanent magnetic linear synchronous motor sensorless strategies based on adaptive gain sliding mode observer
Method belongs to linear motor control technology field.
Background technique
The development of modern industry is higher and higher to the acceleration and rate request of linear motion, traditional rotating electric machine cooperation
The drive mechanism of roller screw makes the reduction of system overall stiffness, and the robustness that intermediate transmission link also leads to system reduces,
Servo performance decline.And electric energy can be converted directly into linear motion by linear motor, not need any intermediate link, overcome with
Upper disadvantage is now widely used for numerically-controlled machine tool, on magnetic suspension train, its speed also improves decades of times compared with rotating electric machine.
Control system based on permanent magnetic linear synchronous motor needs to obtain the rotor position and speed signal of motor, answers at present
There are the devices such as linear encoder and grating sensor with commonplace position sensor, the use of these devices not only increases
The volume and cost of system, also affect the reliability of system, limit the application of permanent magnetic linear synchronous motor.Without sensing
The control method of device estimates position and speed using the voltage, the current signal combination motor mathematical model that are easy detection
Method, be increasingly becoming a research hotspot of linear motor control field, especially run occasion in the high speed of motor.It is based on
The sensorless strategy method of sliding mode observer is widely used.
It is perturbing with system parameter, in the complication systems such as load disturbance, the rapidity of traditional sliding mode observer and anti-
Interference performance is all greatly affected, and the accuracy and speed of control system is deteriorated therewith.In order to meet the high-precision of Numeric Control Technology
Degree, high speed servo-system performance requirement, need to design the high speed suitable for permanent magnetic linear synchronous motor, high-precision and
The control method of strong robustness, so the invention proposes a kind of permanent synchronous linears based on adaptive gain sliding mode observer
Motor sensorless strategy method.
Summary of the invention
In view of the defects existing in the prior art, the invention proposes a kind of permanent magnetism based on adaptive gain sliding mode observer
Linear synchronous motor sensorless strategy method, it is therefore intended that make control system with complexity such as Parameter Perturbation, load disturbances
Also quick, the accurate estimation to permanent magnetic linear synchronous motor counter electromotive force, rotor position and speed is able to achieve in the case where system,
And the anti-interference ability of system can be effectively improved.
To achieve the goals above, the invention proposes a kind of permanent magnet synchronous directs based on adaptive gain sliding mode observer
Line motor sensorless strategy method provides a kind of sensorless strategy method with reality using adaptive gain sliding mode observer
The high-speed, high precision position control of existing permanent magnetic linear synchronous motor, specifically includes following steps.
Step (1): the equivalent voltage u under alpha-beta coordinate is obtained using electric current, voltage detecting and conversion moduleα、uβ, utilize electricity
The three-phase current i of current transformer measurement permanent magnetic linear synchronous motora、ib、ic, and Clark transformation is carried out, it is converted under alpha-beta coordinate
Equivalent current iα、iβ, the three-phase voltage of permanent magnetic linear synchronous motor is measured using multimeter and carries out Clark transformation, is converted to
Equivalent voltage u under alpha-beta coordinateα、uβ。
Step (2): according to the equivalent current i under the alpha-beta coordinate system in step (1)α、iβAnd the equivalent electricity under alpha-beta coordinate
Press uα、uβSliding mode observer is constructed, the back-EMF observer value under alpha-beta coordinate system is exported by it
Step (3): the back-EMF observer value under the alpha-beta coordinate system in step (2) is utilizedIt realizes to mover speed
The estimation of degree and motor pole position, and then obtain mover velocity estimation valueWith motor pole position estimation value
Step (4): according to the mover moving speed estimation value in step (3)With motor pole position estimation valueIt utilizes
Target given value, electric current, voltage coordinate conversion module and electric current, voltage regulator, the final equivalent electricity obtained under alpha-beta coordinate system
Voltage-controlled given value processedWithBy electric mover moving speed estimation valueWith speed target value v*The difference being compared
E recycles PID controller to carry out speed adjusting, to obtain the given value i of d-q coordinate system q shaft currentqref, by the given electricity of q axis
Flow valuve iqrefWith q axis actual output current value iqIt is compared, difference is handled with q shaft current adjusting, generates the output of q shaft voltage
ValueBy d shaft current given value idrefWith d axis actual output current value idIt is compared, at difference d shaft current adjusting
Reason generates d shaft voltage output valveBy the voltage output value under above-mentioned d-q coordinate systemWithPark inversion process is carried out,
It is given to generate the control of the equivalent voltage under alpha-beta coordinate systemWithGiven value is controlled to the equivalent voltageWithInto
Row space vector pulse width modulation generates SVPWM signal, so that three-phase inverter is generated three-phase voltage using above-mentioned signal, and then control
The operation of permanent magnetic linear synchronous motor processed.
As a kind of optimization method of the invention: the sliding mode observer constructed in the step (2) is for actual non-
Situations such as there are parameter uncertainty, external disturbance and Systematic forests in linear system and design adaptive gain sliding formwork observation
Device.Its concrete model is shown in formula (1).
Wherein,Equivalent current estimated value respectively under alpha-beta coordinate system, RsFor the winding of permanent magnetic linear synchronous motor
Resistance, LsFor permanent magnetic linear synchronous motor winding inductance, Kα(t)、Kβ(t) be respectively α, β phase adaptive gain, K α (0) > 0,σα、σβThe respectively deviation of α, β phase current estimated value and actual current measured value, It is | σα| > ε > 0 is just switched to | σαThat moment of |≤ε
Value,It is | σβ| > ε > 0 is just switched to | σβThe value at that moment of |≤ε.
Further, to be more in line with actual conditions, the sliding-mode surface S of the sliding mode observer of design in the step (2)α、SβBy
Formula (2) determines.
Further, sliding mode observer selects in the step (2)Function is α-
Switching signal under β coordinate system, expression formula are determined by formula (3).
Buffeting can be weakened to the greatest extent using the switch function of this form, mention high control precision, improve system performance.
Further, the back-EMF observer value in the step (2) under alpha-beta coordinate systemRespectively from switching signal
Fα、FβIt is obtained with the product of adaptive gain, and partial noise signal can be removed by filtering, calculated as shown in formula (4).
Wherein, eα,eβFor counter electromotive force of motor,It is linear motor pole span for permanent magnet flux linkage, τ.
As a kind of optimization method of the invention: the sliding mode observer gain K designed in the step (2)α(t)、Kβ(t),
It can voluntarily be adjusted according to the variation of ambient conditions, guarantee to be in optimum gain state in real time as far as possible, to obtain better
Control effect.By taking α phase as an example, algorithm is realized as follows.
If | σα| > ε > 0, then Kα(t) it isSolution.
Wherein,Kα(0) 0, σ >αFor the deviation of current estimation value and actual current measured value.
If | σα|≤ε, Kα(t) meet
Wherein,tα *It is | σα| > ε > 0 is just switched to | σαThat moment of |≤ε
Value.
Permanent magnetic linear synchronous motor sensorless strategy side proposed by the present invention based on adaptive gain sliding mode observer
In method, the step (3) is comprised the following specific steps that.
Step (3-1): the back-EMF observer value that will be obtained in claim 5Carry out first-order filtering.
Step (3-2): since position of magnetic pole and counter electromotive force have following relationship.
The period of magnetic pole can be divided into 8 parts, and then judge currently obtained the location of counter electromotive force.
Step (3-3): using the ratio k obtained, in conjunction with the location of current counter electromotive force, using arc tangent formula,
Find out the estimated value of position of magnetic pole
The present invention has the following advantages that compared with prior art.
1. the adaptive gain sliding mode observer proposed in the present invention selects sigmoid function as switch function, compare
It in the switch function of traditional sliding mode observer, can largely weaken buffeting situation, obtain the counter electromotive force to work well and estimate
Evaluation, and then improve motor position estimated accuracy.
2. adaptive gain sliding mode observer proposed by the invention is better than traditional sliding mode observer, gain is using first
Into adaptive algorithm realize, turn off gain can be changed in real time according to the case where real system, for system disturbance and ginseng
The system of the uncertain factors such as number perturbation has good robustness, therefore can be preferably applied for permanent magnetic linear synchronous motor
Sensorless strategy.
Detailed description of the invention
Fig. 1 is structural principle block diagram of the invention.
Fig. 2 is adaptive gain sliding mode observer structural block diagram.
Fig. 3 is back-EMF observer value under adaptive gain sliding mode observer coordinates computed system in the present inventionPrinciple frame
Figure.
Fig. 4 is that adaptive gain sliding mode observer calculates back-EMF observer value under alpha-beta coordinate system in the present inventionOriginal
Manage block diagram.
Fig. 5 is the flow diagram of adaptive gain algorithm in adaptive gain sliding mode observer in the present invention.
Fig. 6 is to utilize adaptive gain sliding mode observer of the present invention and other modules estimation permanent magnetic linear synchronous motor magnetic pole
The functional block diagram of position.
Fig. 7 is that there are the motors that when Parameter Perturbation and load disturbance, position of magnetic pole estimation block is exported in the present invention for system
Position of magnetic pole estimated valueWith the comparison schematic diagram of the practical position of magnetic pole θ of motor.
Fig. 8 is system there are when Parameter Perturbation and load disturbance, utilizes the adaptive gain sliding mode observer in the present invention
The back-EMF observer device of outputWaveform diagram.
Specific embodiment
The preferred embodiment of the present invention is described in further detail with reference to the accompanying drawing.
Fig. 1 is structural principle block diagram of the invention.As shown, in the present embodiment, the method for the invention it is specific
Steps are as follows.
Step (1): input linear motor speed preset value measures permanent synchronous linear as target, using current transformer
The three-phase current i of motora、ib、ic, and Clark transformation is carried out, the equivalent current i being converted under alpha-beta coordinate systemα、iβ, utilize
The three-phase voltage of multimeter measurement permanent magnetic linear synchronous motor simultaneously carries out Clark transformation, is converted to the equivalent voltage under alpha-beta coordinate
uα、uβ。
Step (2): according to the equivalent current i under the alpha-beta coordinate system in step (1)α、iβAnd the equivalent electricity under alpha-beta coordinate
Press uα、uβSliding mode observer is constructed, the back-EMF observer value under alpha-beta coordinate system is exported by it
Step (3): the back-EMF observer value under the alpha-beta coordinate system in step (2) is utilizedIt realizes to mover speed
With the estimation of motor pole position, and then mover velocity estimation value is obtainedWith motor pole position estimation value
Step (4): according to the mover moving speed estimation value in step (3)With motor pole position estimation valueIt will be electric
Motor-driven sub- moving speed estimation valueThe difference e being compared with speed target value v* recycles PID controller to carry out speed
It adjusts, to obtain the given value i of d-q coordinate system q shaft currentqref, q axis is given into current value iqrefWith q axis actual output current
Value iqIt is compared, difference is handled with q shaft current adjusting, generates q shaft voltage output valveBy d shaft current given value idref
With d axis actual output current value idIt is compared, difference is handled with d shaft current adjusting, generates d shaft voltage output valveIt will
Voltage output value under above-mentioned d-q coordinate systemWithPark inversion process is carried out, to generate equivalent under alpha-beta coordinate system
Voltage control is givenWithGiven value is controlled to the equivalent voltageWithSpace vector pulse width modulation is carried out, is generated
SVPWM signal makes three-phase inverter generate three-phase voltage, and then controls the fortune of permanent magnetic linear synchronous motor using above-mentioned signal
Row.
As shown in Fig. 2, the model of the adaptive gain sliding mode observer in step (2) is shown below.
Wherein,Equivalent current observation respectively under alpha-beta coordinate system, RsFor the winding of permanent magnetic linear synchronous motor
Resistance, LsFor permanent magnetic linear synchronous motor winding inductance, Kα(t)、Kβ(t) be respectively α, β phase adaptive gain, Kα(0) 0 >,σα、σβThe respectively deviation of α, β phase current estimated value and actual current measured value, It is | σα| > ε > 0 is just switched to | σαThat moment of |≤ε
Value,It is | σβ| > ε > 0 is just switched to | σβThe value at that moment of |≤ε.Switching signal in above-mentioned model under alpha-beta coordinate systemFor sigmoid function, expression formula is as follows.
Sliding-mode surface S in modelα、SβIt is determined by following formula:
As shown in Figure 3, Figure 4, the back-EMF observer value under the alpha-beta coordinate system in the step (2)Respectively from
Switching signal Fα、FβIt is obtained with the product of adaptive gain, and partial noise signal can be removed by filtering.It is shown below.
Wherein, eα,eβFor counter electromotive force of motor,It is linear motor pole span for permanent magnet flux linkage, τ.
In the step (2) sliding mode observer gain can adaptive change, can voluntarily be become according to the variation of external condition
Gain size is changed, optimum gain is found, to obtain better control effect.As shown in figure 5, algorithm is realized by taking α phase as an example
It is as follows.
If | σα| > ε > 0, then Kα(t) it isSolution.
Wherein,Kα(0) 0, σ >αFor the deviation of current estimation value and actual current measured value.
If | σα|≤ε, Kα(t) meet
Wherein,tα *It is | σα| > ε > 0 is just switched to | σαThat moment of |≤ε
Value.
As shown in fig. 6, the step (3) includes following specific processing.
Step (3-1): the back-EMF observer value that will be obtained in claim 5Carry out first-order filtering.
Step (3-2): since position of magnetic pole and counter electromotive force have following relationship.
The period of magnetic pole can be divided into 8 parts, and then judge currently obtained the location of counter electromotive force.
Step (3-3): using the ratio k obtained, in conjunction with the location of current counter electromotive force, using arc tangent formula,
Find out the estimated value of position of magnetic pole
As shown in fig. 7, system is there are when certain Parameter Perturbation and load disturbance, position of magnetic pole estimation block in the present invention
The motor pole position estimation value of outputWith the comparison schematic diagram of the practical position of magnetic pole θ of motor.
Fig. 8 is system there are when Parameter Perturbation and load disturbance, defeated using adaptive gain sliding mode observer in the present invention
Back-EMF observer value outWaveform diagram.
As can be seen from Figures 7 and 8, when system is there are when Parameter Perturbation and load disturbance, using of the invention adaptive
Answer gain sliding mode observer that can accurately, quickly estimate back-EMF observer valueIt can also be accurately and rapidly defeated
The estimated value of motor movement speed and position of magnetic pole outAnd having speed output response fast, the small feature of overshoot is disturbing
Speed adjusting can be carried out when generation in time, keeps speed follower given value.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (2)
1. a kind of PMLSM sensorless strategy method based on adaptive gain sliding mode observer, which is characterized in that utilize adaptive
Gain sliding mode observer is answered, provides a kind of sensorless strategy method to realize the high-speed, high precision position of permanent magnetic linear synchronous motor
Control is set, is specifically comprised the following steps:
Step (1): the equivalent voltage u under alpha-beta coordinate is obtained using electric current, voltage detecting and conversion moduleα、uβ；It is mutual using electric current
The three-phase current i of sensor measurement permanent magnetic linear synchronous motora、ib、ic, and carry out Clark transformation, be converted under alpha-beta coordinate etc.
Imitate electric current iα、iβ, the three-phase voltage of permanent magnetic linear synchronous motor is measured using multimeter and carries out Clark transformation, is converted to alpha-beta
Equivalent voltage u under coordinateα、uβ；
Step (2): according to the equivalent current i under the alpha-beta coordinate system in step (1)α、iβAnd the equivalent voltage under alpha-beta coordinate
uα、uβCombining adaptive algorithm construction adaptive kernel time-frequency distribution exports back-EMF observer value by sliding mode observer
The sliding mode observer constructed in the step (2) is to be directed in actual nonlinear system there are parameter uncertainty, outside
Portion's disturbance and Systematic forest situation and the adaptive gain sliding mode observer that designs, specific observer model are as follows:
Wherein,Equivalent current estimated value respectively under alpha-beta coordinate system, RsFor the winding electricity of permanent magnetic linear synchronous motor
Resistance, LsFor permanent magnetic linear synchronous motor winding inductance, Kα(t)、Kβ(t) be respectively α, β phase adaptive gain, σα、σβRespectively
The deviation of α, β phase current estimated value and actual current measured value；
Wherein, the sliding-mode surface S of sliding mode observerα、SβIt is determined by following formula:
Wherein, sliding mode observer selects F (σα)、F(σβ) sigmoid function be alpha-beta coordinate system under switching signal, expression formula by
Formula (3) determines:
Step (3): the back-EMF observer value under the alpha-beta coordinate system in step (2) is utilizedIt realizes to electric mover speed
With the estimation of motor pole position, mover moving speed estimation value is obtainedWith motor pole position estimation value
Step (4): according to the mover moving speed estimation value in step (3)With motor pole position estimation valueUtilize target
Given value, electric current, voltage coordinate conversion module and electric current, voltage regulator, the final equivalent voltage control obtained under alpha-beta coordinate system
Given value processedWithAnd given value is controlled to the equivalent voltageWithSpace vector pulse width modulation is carried out, is generated
SVPWM signal generates three-phase voltage using above-mentioned signal control three-phase inverter, and then controls the fortune of permanent magnetic linear synchronous motor
Row.
2. the PMLSM sensorless strategy method according to claim 1 based on adaptive gain sliding mode observer, special
Sign is, the sliding mode observer gain K in the step (2)α(t)、Kβ(t), it is voluntarily adjusted according to the variation of ambient conditions,
And guarantee that its value is in optimum gain state in real time, so that better control effect is obtained, by taking the α phase under alpha-beta coordinate system as an example,
Its algorithm is accomplished by
If | σα| > ε > 0, then Kα(t) it isSolution,
Wherein,Kα(0) 0 >；
If | σα|≤ε, Kα(t) meet:
Wherein,τ > 0,It is | σα|≤ε is just switched to | σαThe value at |≤ε moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610928325.5A CN106330038B (en) | 2016-10-31 | 2016-10-31 | A kind of PMLSM sensorless strategy method based on adaptive gain sliding mode observer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610928325.5A CN106330038B (en) | 2016-10-31 | 2016-10-31 | A kind of PMLSM sensorless strategy method based on adaptive gain sliding mode observer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106330038A CN106330038A (en) | 2017-01-11 |
| CN106330038B true CN106330038B (en) | 2019-04-26 |
Family
ID=57818364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610928325.5A Active CN106330038B (en) | 2016-10-31 | 2016-10-31 | A kind of PMLSM sensorless strategy method based on adaptive gain sliding mode observer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106330038B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107579690B (en) * | 2017-08-28 | 2019-07-02 | 南京理工大学 | A kind of ultrahigh speed permanent magnet synchronous motor method for estimating rotating speed based on sliding formwork observation |
| CN108183651A (en) * | 2018-01-18 | 2018-06-19 | 南京理工大学 | A kind of control method of permanent magnet linear synchronous motor position-sensor-free |
| CN108258946A (en) * | 2018-03-08 | 2018-07-06 | 青岛大学 | A kind of Speed Sensorless Control Method of permanent magnetic linear synchronous motor |
| CN110649849A (en) * | 2019-11-01 | 2020-01-03 | 南京航空航天大学 | Magnetic flux switching type permanent magnet linear motor position-free control method based on novel sliding-mode observer |
| CN112068444B (en) * | 2020-09-22 | 2022-02-15 | 中国人民解放军海军航空大学 | Aircraft attack angle control method adopting nonlinear self-adaptive sliding mode |
| CN113206623B (en) * | 2021-05-06 | 2022-12-20 | 大连理工大学 | Permanent magnet synchronous motor finite time speed regulation control method based on fast integral terminal sliding mode and interference estimation |
| CN114726277B (en) * | 2022-04-21 | 2024-02-06 | 西北工业大学 | Control method for switch reluctance motor without position sensor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2006556A1 (en) * | 2007-06-18 | 2008-12-24 | Mecos Traxler AG | Recovery of impact in a magnetic bearing device |
| CN104601072A (en) * | 2015-02-02 | 2015-05-06 | 宁波申菱电梯配件有限公司 | Whole-speed range control method of position sensor of elevator door motor |
| CN106026834A (en) * | 2016-07-29 | 2016-10-12 | 扬州大学 | Speed sensorless control method of permanent magnet synchronous motor |
-
2016
- 2016-10-31 CN CN201610928325.5A patent/CN106330038B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2006556A1 (en) * | 2007-06-18 | 2008-12-24 | Mecos Traxler AG | Recovery of impact in a magnetic bearing device |
| CN104601072A (en) * | 2015-02-02 | 2015-05-06 | 宁波申菱电梯配件有限公司 | Whole-speed range control method of position sensor of elevator door motor |
| CN106026834A (en) * | 2016-07-29 | 2016-10-12 | 扬州大学 | Speed sensorless control method of permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106330038A (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106330038B (en) | A kind of PMLSM sensorless strategy method based on adaptive gain sliding mode observer | |
| CN107070341B (en) | Permanent magnet synchronous motor method for suppressing torque ripple based on Robust Iterative Learning Control | |
| CN102208891B (en) | Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation | |
| CN103895832B (en) | A kind of boats and ships electricity servo fin, wing fin rollstabilization intelligence vector control method | |
| CN105871282A (en) | Controller PI parameter tuning method based on rotational inertia of motor | |
| CN109660170A (en) | A kind of permanent magnet synchronous motor high reliability current predictive control method and its system | |
| CN108880358A (en) | Method for controlling permanent magnet synchronous motor and device based on angular displacement without Time Delay Observer | |
| CN105406786A (en) | Rotational inertia identification method for permanent magnet synchronous motor | |
| CN103997269B (en) | A kind of control method of Power Robot drive system | |
| CN105048896B (en) | A kind of brshless DC motor Direct Torque adaptive fuzzy control method | |
| CN108183651A (en) | A kind of control method of permanent magnet linear synchronous motor position-sensor-free | |
| CN103208958A (en) | DC (direct control) servo drive control system | |
| CN110345013B (en) | Magnetic suspension vertical axis wind turbine generator control method based on neural network model predictive control | |
| CN102647134A (en) | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor | |
| CN104953916A (en) | Novel speed controller based on speed regulating system of permanent magnet synchronous motor | |
| Wang et al. | Continuous sliding mode control for permanent magnet synchronous motor speed regulation systems under time-varying disturbances | |
| CN111193448A (en) | Surface-mounted permanent magnet synchronous motor load torque observation method based on extended Kalman filter | |
| CN112910359A (en) | Improved permanent magnet synchronous linear motor model prediction current control method | |
| CN104167966A (en) | Control method of permanent magnet linear motor with Hall sensors for positioning | |
| CN105024612A (en) | Parameter identification-based motor current control method and system | |
| CN109639200A (en) | A kind of rotary inertia on-line identification method based on electric motor load torque detection | |
| CN108512476B (en) | Induction motor rotating speed estimation method based on Longbeige observer | |
| CN106130429A (en) | Bearing-free permanent magnet synchronous motor predictive controller and building method | |
| CN101383573B (en) | Direct suspending power control method for permanent magnet type non-bearing motor | |
| CN102420557B (en) | Four-quadrant-operation-based propeller simulation device and simulation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |