CN108471266B - Angular velocity instruction and rotation angle position preprocessing system of servo motor - Google Patents
Angular velocity instruction and rotation angle position preprocessing system of servo motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention relates to a pretreatment system for an angular velocity instruction and a rotation angle position of a servo motor, wherein the pretreatment system is provided with a tracking differential filtering unit and a zero adjustment separation instructionA conversion unit and a transfer rate control unit. The present invention integrates angular velocity to obtain angular position and separately calculates integer angular position and fractional angular position. Compared with the traditional angular position increment conversion method, the servo system only providing the command angular speed can eliminate the command conversion error caused by single-precision operation under the large-angle position. The control stability of the servo system is improved. The rotation angle position detection period T is limited1Controlling period T for servo closed loop of frame2Multiple of the integral degree; angular velocity telemetry period T3Detecting a period T for an angular position1Compared with the traditional unconstrained method, the method effectively avoids the telemetering angular velocity fluctuation caused by the change of the angle position updating times in the telemetering period, and improves the stability of the telemetering angle.
Description
Technical Field
The invention relates to a pretreatment system for an angular velocity instruction and a rotation angle position of a servo motor, which is suitable for high-precision servo control of products such as a control moment gyroscope, a pointing mechanism, a rotary table and the like and belongs to the technical field of motors.
Background
The control moment gyroscope outputs a moment by changing the direction of the angular momentum of the rotor so as to adjust the attitude of the spacecraft. The precision and stability of the frame rotating speed directly influence the precision and stability of the output moment of the control moment gyro.
(1) And controlling the rotating speed of the moment gyro frame to be detected by using a rotary transformer or a grating. The output signal of the rotary transformer is interfered by external factors such as frame motor current and the like in the transmission process, and noise is generated. High-precision grating subdivision sampling is easy to interfere; meanwhile, the high-precision grating has extremely high requirements on the installation precision of the reading head, the light source and the grating disc, and wild values are easy to appear in rough and fine conversion. The noise, the outlier and the interference seriously influence the angle measurement precision of the frame angle measurement sensor, and the angular velocity obtained by directly using a differential plus low-pass filtering method cannot meet the high-precision requirement of the frame angle measurement.
(2) The control instruction sent by the satellite attitude control subsystem to the control moment gyro frame servo system is generally an angular velocity instruction, and the high-precision frame servo system needs angular position closed-loop control, so that the angular velocity instruction is converted into an angular position instruction, and the traditional conversion method is as follows: the angular position accumulation for a single control cycle is first calculated based on the angular velocity command (the single control cycle time is within 1 millisecond, so the angular position accumulation is small, but it directly determines the frame angular velocity control accuracy), and then the angular position accumulation is accumulated per cycle based on the current angular position. Most of the existing aerospace chips are single-precision floating-point processors, the addition of a larger current angular position and a minimum angular position accumulated amount can discard the low digits of the angular position accumulated amount, and the control precision of the angular speed of the frame is greatly reduced.
(3) Because of the limitations of the frame angular position sensor decoding rate, the telemetering communication rate and the like, the frame angular position detection period, the frame servo closed-loop control period and the angular speed telemetering period cannot be unified, and the traditional servo control system does not restrict the relationship among the three period values. The angular position updating times are different at each telemetering interval, and the angular position updating times in the frame servo control period are different, so that step errors occur in the servo control angular speed calculation and telemetering angular speed calculation, and the frame servo control precision is seriously influenced.
The problem that the high-precision angular velocity signal cannot be obtained by directly using a differential plus low-pass filtering method due to transmission noise, outliers and interference of the angle signal of the traditional servo control system is solved; in a single-precision floating-point processor, the angular position cumulative addition method is used for calculating the problem of low precision of the angular position instruction; the angular position updating times are different at each telemetering interval, and the angular position updating times in a servo control period are different, so that step errors occur in the calculation of the servo control angular speed and the calculation of the telemetering angular speed, and the servo control precision is seriously influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pretreatment system for an angular velocity instruction and a rotation angle position of a servo motor, which solves the problems of angular noise and outliers, conversion error from an instruction angular velocity to an instruction angular position and mismatching of angular position detection control telemetering rate.
The purpose of the invention is realized by the following technical scheme:
the angular velocity instruction and rotational angle position preprocessing system for the servo motor comprises a tracking differential filtering unit and an integral zero separation instruction conversion unit;
the tracking differential filtering unit receives a rotation angle position r (k) of a rotor of the servo system and calculates increment y ═ r1(k) -r (k) + h × r2(k) of the angular position unit time; when | y | is larger than the speed threshold d0, the angular speed variation a is r2(k) + (a0-d)/2 × sign (y), otherwise a is r2(k) + y/h; when the angular velocity variation a is larger than the acceleration threshold d, the angular velocity comprehensive function fst is-delta × sign (a), otherwise, fst is-delta × a/d; calculating an angular position tracking signal r1(k +1) ═ r1(k) + h × r2(k) of the next cycle, estimating and outputting a tracking angular velocity r2(k +1) ═ r2(k) + h × fst of the next cycle; where r1(k) is the tracking angular position of the current cycle, r2(k) is the tracking angular velocity of the current cycle,sign (y) is a sign function of y, h is an operation step length, delta is a tracking speed adjusting coefficient, and r1(k) is an angular position tracking signal;
the integral zero separation instruction conversion unit receives an angular velocity instruction Vi sent by the attitude control computer; accumulating the angular velocity commands Vi to store P∑When the threshold value exceeds the upper limit, the integral register PrAdding 1 to the stored value; when less than the lower threshold, the integer register PrSubtracting 1 from the stored value; calculating an angular position command, Pnext＝Pr+P∑·T2To PnextCarry out limit correction output, T2A frame servo closed loop control cycle.
Preferably, the system further comprises a transmission rate control unit, which comprises three timers, and the timing periods are respectively: rotation angle position r (k) detection period T1Frame servo closed loop control period T2Angular velocity telemetry period T3(ii) a Rotation angle position r (k) detection period T1Controlling period T for servo closed loop of frame2Multiple of the integral degree; angular velocity telemetry period T3Detecting a period T for an angular position1The integral multiple of.
Preferably, the acceleration threshold d is determined as follows:
d is delta x h0, wherein h0 is the angular position signal filter parameter value range of N x h, and N is a positive integer; the value range of delta is 1-1/h;
preferably, the tracking angular position r1(k +1) and the tracking angular velocity r2(k +1) are subjected to a period T2After sampling, sending the sampled data to a subsequent servo motor control module; the tracking angular position r1(k +1) is subjected to a period T3And sending the sampled data to a posture control computer.
Preferably, the upper threshold for accumulating the angular velocity commands Vi is the servo period T2Reciprocal, with the lower threshold being the servo period T2The negative of the reciprocal.
Preferably, for PnextThe method for limiting correction is that when P is usednextWhen not less than 360, Pnext-360 output; pnext<At 0, Pnext+360 output; 360>PnextAnd when the output is more than or equal to 0, directly outputting.
A servo motor control system having a preprocessing system is provided, which is characterized by comprising the angular velocity command and the rotational angular position preprocessing system of the servo motor.
Preferably, the servo motor control system subtracts the angular position command output by the zero adjustment separation command conversion unit from the tracking angular position output by the tracking differential filter unit, sends the subtraction result to the position loop controller to obtain an angular velocity control quantity, subtracts the tracking angular velocity output by the tracking differential filter unit, sends the subtraction result to the speed loop controller to obtain a current control quantity, subtracts the detection current of the motor winding, sends the current control quantity to the current loop controller to generate a motor driving signal, rotates through the motor control frame device, measures the rotor rotation angle position of the servo system through the angle measurement sensor, and sends the measured current control quantity to the tracking differential filter unit.
Provided is a method for preprocessing an angular velocity command and a rotational angle position of a servo motor, comprising the following steps:
(1) receiving a rotational angle position r (k) of a servo system rotor;
(2) calculating angular acceleration threshold d and velocity threshold d 0: d-delta × h0, wherein h0 is a filter parameter; delta is a tracking speed regulation coefficient; d0 ═ h0 × d; calculate angular position increment y: y ═ r1(k) -r (k) + h × r2(k), where h is the operation step size, r1(k) is the angular position tracking signal, r2(k) is the tracking angular velocity of the current cycle, k is the current cycle, and k +1 is the next cycle;
(3) when | y | is larger than the speed threshold d0, the angular speed variation a is r2(k) + (a0-d)/2 × sign (y), otherwise a is r2(k) + y/h; wherein the content of the first and second substances,
(4) when the angular velocity variation a is larger than the acceleration threshold d, the angular velocity integral function fst is-delta × sign (a), otherwise, fst is-delta × a/d
(5) Calculating a tracking angular position r1(k +1) ═ r1(k) + h × r2(k), and estimating an angular velocity r2(k +1) ═ r2(k) + h × fst;
(6) receiving an angular velocity instruction Vi sent by an attitude control computer; accumulating the angular velocity commands Vi to store P∑When the threshold value exceeds the upper limit, the integral register PrAdding 1; when less than the lower threshold, the integer register PrSubtracting 1; calculating an angular position command, Pnext＝Pr+P∑·T2To PnextCarry out limit correction output。
Preferably, the angular position r (k) is detected over a period T1Frame servo closed loop control period T2Angular velocity telemetry period T3(ii) a Rotation angle position r (k) detection period T1Controlling period T for servo closed loop of frame2Multiple of the integral degree; angular velocity telemetry period T3Detecting a period T for an angular position1The integral multiple of.
Preferably, step (5) further includes passing the tracking angular position r1(k +1) and the angular velocity r2(k +1) over a period T2The sampled signal is sent to a servo motor control module; the tracking angular position r1(k +1) is subjected to a period T3And sending the sampled data to a posture control computer.
Compared with the prior art, the invention has the following advantages:
(1) the invention designs a tracking differential filter. Compared with the traditional direct differential plus low-pass filtering method, the threshold control is added, the angle field value can be eliminated, and the filtering delay is reduced.
(2) The invention designs an integral zero separation instruction angular position conversion method, which integrates angular speed to obtain an angular position and separately calculates the integral angular position and the decimal angular position. Compared with the traditional angular position increment conversion method, the servo system only providing the command angular speed can eliminate the command conversion error caused by single-precision operation under the large-angle position. The control stability of the servo system is improved.
(3) The invention provides an angular position transmission rate geometric control method, which limits a rotation angle position detection period T1Controlling period T for servo closed loop of frame2Multiple of the integral degree; angular velocity telemetry period T3Detecting a period T for an angular position1Compared with the traditional unconstrained method, the method effectively avoids the telemetering angular velocity fluctuation caused by the change of the angle position updating times in the telemetering period, and improves the stability of the telemetering angle.
Drawings
FIG. 1 is a block diagram of a servo motor control system;
FIG. 2 is a block diagram of a command angle and goniometric feedback preprocessing system;
FIG. 3 is a flow diagram of a trace differentiation module;
FIG. 4 is a flow chart of an integer zero split instruction translation unit;
FIG. 5 is a diagram of a transfer rate control unit;
FIG. 6 is a plot of direct differential versus tracking differential resulting in angular velocity;
FIG. 7 is a comparison graph of the back-thrust angular velocity from the resulting commanded angular position before and after separation with zero adjustment;
fig. 8 is a graph of stability before and after synchronous transmission.
Detailed Description
The invention designs a command angular position and angle measurement feedback preprocessing system (shown in figure 2) of a servo motor aiming at a low-speed frame system (shown in figure 1).
As shown in fig. 1, the present invention mainly includes three units: (1) and the tracking differential filtering unit is used for pre-filtering the output angular position of the angle measuring sensor by using a tracking differential method, reducing the angle measuring noise and eliminating the angle measuring field value. (2) And the integral zero separation instruction conversion unit integrates the angular speed instruction, and is provided with an integral degree register and a decimal degree register for storing an integral angle and a decimal angle respectively, so that the truncation error of the single-precision floating point processor during addition and subtraction operation of the extra-large number and the extra-small number is eliminated, and the angular speed control precision of the servo motor is improved. (3) The transmission rate control unit restricts an angular position detection period, a servo motor closed-loop control period and an angular speed telemetering period, so that the angular position detection period is an integral multiple of the servo motor closed-loop control period, the angular speed telemetering period is an integral multiple of the angular position detection period, the angular position updating times of each telemetering interval are the same, the servo motor closed-loop control times of each angular position detection interval are the same, and the servo motor control accuracy is improved.
Are described in detail below
1. Tracking differential filter unit
The tracking differential filtering is mainly to limit the amplitude of the first order differential and the second order differential of the input signal according to a physical model and to obtain the filtering value and the first order differential value of the input signal by using a comprehensive function. As shown in fig. 3, the specific steps are:
(1) receiving a rotation angle position r (k) output by a servo motor control system;
(2) calculating an angular acceleration threshold d: d is delta × h0, where h0 is a filter parameter, the larger the value is, the better the filtering effect of calculating the tracking angular position and angular velocity is, but the larger the delay is, and the value is generally N × h (N is a positive integer); delta is a tracking speed adjusting coefficient, and the value range of the influenced tracking speed is 1-1/h; speed threshold d 0: d0 ═ h0 × d, angular position increment y: y-r 1(k) -r (k) + h × r2(k), where h is the operation step, r (k) is the angular position input signal, r1(k) is the angular position tracking signal, r2(k) is the angular velocity estimation value, k is the current period, and k +1 is the next period.
(3) The absolute value of the increment y of the angular position per unit time is dimensionless compared with a speed threshold d0, and the detected angular position where y exceeds d0 is regarded as a wrong value not following the actual physical movement, i.e. if it is greater than, the angular speed variation a is r2(k) + (a0-d)/2 × sign (y), where sign (y) is a sign function of y and a0 is a correlation coefficient function of yOtherwise, a is r2(k) + y/h;
(4) comparing the angular velocity change amount a with an angular acceleration threshold value d, and regarding the detected angular position where the angular velocity change amount exceeds d as an erroneous value that does not follow the actual physical motion, i.e., if greater than, the angular velocity synthetic function fst is-delta × sign (a), otherwise, fst is-delta × a/d;
(5) finally, the tracking angular position r1(k +1) ═ r1(k) + h × r2(k) is calculated, and the estimated angular velocity r2(k +1) ═ r2(k) + h × fst. The tracking angular position r1(k +1) and the angular velocity r2(k +1) are subjected to a period T2The sampled signals are sent to a servo motor control system; the tracking angular position r1(k +1) is subjected to a period T3And sending the sampled data to a posture control computer.
2. Zero-integer split instruction translation unit
The zero-adjustment separation instruction conversion flow is shown in FIG. 4, and an angle-adjustment register P is setrSum angle register P∑. ReceivingThe period sent by the attitude control computer is T3The angular velocity command Vi is accumulated in P∑When the accumulated value is larger than the servo period T2Reciprocal (1/T)2) Time, integral register PrAdding 1, P∑The count value stored therein minus 1/T2Then continuing to accumulate; when the accumulated value is less than the negative value (-1/T) of the reciprocal of the servo period2) Time, integral register PrDecrease by 1, P∑The count value stored in (1/T) is added to2Then continuing to accumulate; calculating the current commanded angular position, Pnext＝Pr+P∑·T2Finally to PnextCorrecting the position limitation (0-360 degrees), namely PnextWithin the range of 0-360 degrees. The current command angular position PnextAnd sending the data to a servo motor control system.
Integer P and decimal P∑·T2And the operation is separated, so that the truncation error of the single-precision floating-point processor when the single-precision floating-point processor carries out addition and subtraction operation on the extra-large number and the extra-small number is eliminated.
3. Transfer rate control unit
As shown in fig. 5, three timers are triggered by the same clock, and the timing periods are respectively: angular position detection period T1Frame servo closed loop control period T2Angular velocity telemetry period T3。
At the same time, an angular position detection period T is set1Controlling period T for servo closed loop of frame2Is made to be a multiple of the strict integer so that each time the angular position detection interval T is made1The frame of (2) is servo-controlled the same number of times, ensuring a time interval T of each angular position detection1And thus, an accurate detection angular velocity is obtained. Angular velocity telemetry period T3Detecting a period T for an angular position1Multiple of the integer of (a) so that each telemetry interval T3The angular position updating times are the same, and the time interval of each telemetering is ensured to be consistent, so that the accurate telemetering angular speed is obtained.
Referring to fig. 1, a servo motor control system receives an angular position command and a feedback angular position sent by an angular velocity command and a rotation angle position preprocessing system, subtracts the angular position command and the feedback angular position, sends the angular velocity command to a position ring controller to obtain an angular velocity control quantity after performing position ring control algorithm operation, subtracts a tracking angular velocity sent by the preprocessing system, sends the angular velocity control quantity to a speed ring controller, performs speed control algorithm operation to obtain a current control quantity, subtracts a detection current of a motor winding, sends the current control quantity to a current ring controller to perform operation to generate a corresponding PWM control quantity, controls a motor current through a driving unit, generates a control torque through a motor module to control the rotation of a frame device, measures the rotation angular position of the frame device through an angle measuring sensor, and sends the control torque to the angular velocity command and the rotation angle position preprocessing system. And the preprocessing system and the servo motor control system jointly realize tracking control of the angular speed instruction.
The coupling of the code wheel rough and fine machine is set to be the 16 th bit data mutation, and the angular velocity obtained by direct difference and tracking differentiation is used, for example, as shown in FIG. 6, the differential angular velocity obtained after the processing is carried out by the processing system of the invention is smaller in noise.
Fig. 7 is a comparison graph of angular velocity of backward thrust according to the obtained command angular position before and after zero-adjustment separation in a single-precision floating-point arithmetic processor (32 bits), and it can be seen from the graph that the frame rotational speed precision can be improved by more than 95% when the angle is large.
FIG. 8 shows a detection cycle T for angular position1Control period T2Telemetry period T3The time is adjusted from 1.5ms, 0.5ms and 25ms to 1.5ms, 0.5ms and 30ms (T)3Is T1Is adjusted to T3Is T1Strict integral multiple of the reference value), and the stability of the angular velocity can be improved by several times as can be seen from the comparison graph of the obtained remote angular velocity.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. The angular velocity instruction and rotation angle position preprocessing system for the servo motor is characterized by comprising a tracking differential filtering unit and a zero-setting separation instruction converting unit;
the tracking differential filtering unit receives a rotation angle position r (k) of a rotor of the servo system and calculates increment y ═ r1(k) -r (k) + h × r2(k) of the angular position unit time; when | y | is larger than the speed threshold d0, the angular speed variation a is r2(k) + (a0-d)/2 × sign (y), otherwise a is r2(k) + y/h; when the angular velocity variation a is larger than the acceleration threshold d, the angular velocity comprehensive function fst is-delta × sign (a), otherwise, fst is-delta × a/d; calculating an angular position tracking signal r1(k +1) ═ r1(k) + h × r2(k) of the next cycle, estimating and outputting a tracking angular velocity r2(k +1) ═ r2(k) + h × fst of the next cycle; where r1(k) is the tracking angular position of the current cycle, r2(k) is the tracking angular velocity of the current cycle,sign (y) is a sign function of y, h is an operation step length, delta is a tracking speed adjusting coefficient, and r1(k) is an angular position tracking signal;
the integral zero separation instruction conversion unit receives an angular velocity instruction Vi sent by the attitude control computer; accumulating the angular velocity instruction Vi in a register P∑When the threshold value exceeds the upper limit, the integral register PrAdding 1 to the stored value; when less than the lower threshold, the integer register PrSubtracting 1 from the stored value; calculating an angular position command, Pnext＝Pr+P∑·T2To PnextCarry out limit correction output, T2For servo-closed loop control period of the frame, P∑Is a register P∑The count value stored therein;
the upper limit threshold value for accumulating the angular velocity commands Vi is the servo period T2Reciprocal, with the lower threshold being the servo period T2The negative of the reciprocal.
2. The angular velocity command and rotational angle position preprocessing system for a servo motor according to claim 1, further comprising a transfer rate control unit,the system comprises three timers, wherein the timing periods are respectively as follows: rotation angle position r (k) detection period T1Frame servo closed loop control period T2Angular velocity telemetry period T3(ii) a Rotation angle position r (k) detection period T1Controlling period T for servo closed loop of frame2Multiple of the integral degree; angular velocity telemetry period T3Detecting a period T for an angular position1The integral multiple of.
3. The angular velocity command and rotational angle position preprocessing system for a servo motor according to claim 1 or 2, characterized in that the acceleration threshold value d is determined by:
d is delta x h0, wherein h0 is the angular position signal filter parameter value range of N x h, and N is a positive integer; the delta value range is 1-1/h.
4. The angular velocity command and rotational angle position preprocessing system for a servo motor as claimed in claim 2, characterized in that the tracking angular position r1(k +1) and the tracking angular velocity r2(k +1) are subjected to a period T2After sampling, sending the sampled data to a subsequent servo motor control module; the tracking angular position r1(k +1) is subjected to a period T3And sending the sampled data to a posture control computer.
5. The system for preprocessing the angular velocity command and the rotational angle position of the servo motor according to claim 1 or 2, wherein P is processednextThe method for limiting correction is that when P is usednextWhen not less than 360, Pnext-360 output; pnext<At 0, Pnext+360 output; 360>PnextAnd when the output is more than or equal to 0, directly outputting.
6. A servo motor control system having a preprocessing system, characterized by comprising the angular velocity command and rotational angular position preprocessing system of a servo motor according to any one of claims 1 to 5.
7. The servo motor control system with preprocessing system as claimed in claim 6, wherein the servo motor control system subtracts the tracking angular position outputted from the tracking differential filter unit from the angular position command outputted from the zero-adjustment separation command conversion unit, sends the subtracted result to the position loop controller for calculation to obtain the angular velocity control quantity, subtracts the tracking angular velocity outputted from the tracking differential filter unit, sends the subtracted result to the speed loop controller to obtain the current control quantity, subtracts the detected current of the motor winding to send to the current loop controller for generating the motor driving signal, rotates through the motor control frame device, measures the rotation angle position of the servo system rotor through the angle sensor, and sends the measured signal to the tracking differential filter unit.
8. A method for preprocessing an angular velocity command and a rotational angle position of a servo motor is characterized by comprising the following steps:
(1) receiving a rotational angle position r (k) of a servo system rotor;
(2) calculating angular acceleration threshold d and velocity threshold d 0: d-delta × h0, wherein h0 is a filter parameter; delta is a tracking speed regulation coefficient; d0 ═ h0 × d; calculate angular position increment y: y ═ r1(k) -r (k) + h × r2(k), where h is the operation step size, r1(k) is the angular position tracking signal, r2(k) is the tracking angular velocity of the current cycle, k is the current cycle, and k +1 is the next cycle;
(3) when | y | is larger than the speed threshold d0, the angular speed variation a is r2(k) + (a0-d)/2 × sign (y), otherwise a is r2(k) + y/h; wherein the content of the first and second substances,
(4) when the angular velocity variation a is larger than the acceleration threshold d, the angular velocity integral function fst is-delta × sign (a), otherwise, fst is-delta × a/d
(5) Calculating a tracking angular position r1(k +1) ═ r1(k) + h × r2(k), and estimating an angular velocity r2(k +1) ═ r2(k) + h × fst;
(6) receiving an angular velocity instruction Vi sent by an attitude control computer; accumulating the angular velocity instruction Vi in a register P∑When the threshold value exceeds the upper limit, the integral register PrAdding 1; when less than the lower threshold, integerDegree register PrSubtracting 1; calculating an angular position command, Pnext＝Pr+P∑·T2To PnextCarrying out limit correction output; p∑Is a register P∑The count value stored therein;
the upper limit threshold value for accumulating the angular velocity commands Vi is the servo period T2Reciprocal, with the lower threshold being the servo period T2The negative of the reciprocal.
9. The method for preprocessing the angular velocity command and the rotational angle position of the servo motor as claimed in claim 8, wherein the rotational angle position r (k) detects the period T1Frame servo closed loop control period T2Angular velocity telemetry period T3(ii) a Rotation angle position r (k) detection period T1Controlling period T for servo closed loop of frame2Multiple of the integral degree; angular velocity telemetry period T3Detecting a period T for an angular position1The integral multiple of.
10. The method of pre-processing angular velocity command and rotational angle position of servo motor of claim 9, wherein step (5) further comprises passing tracking angular position r1(k +1) and angular velocity r2(k +1) over a period T2The sampled signal is sent to a servo motor control module; the tracking angular position r1(k +1) is subjected to a period T3And sending the sampled data to a posture control computer.
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| CN105375847A (en) * | 2015-12-14 | 2016-03-02 | 上海中科深江电动车辆有限公司 | Method for improving detection accuracy of rotor position of permanent magnet synchronous motor |
| CN107707172A (en) * | 2017-09-14 | 2018-02-16 | 北京控制工程研究所 | A kind of CMG low speed framework quickly wide torque range, high-precision driving control system |
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