CN111049442A - Method for suppressing rotational speed pulsation of servo motor - Google Patents

Method for suppressing rotational speed pulsation of servo motor Download PDF

Info

Publication number
CN111049442A
CN111049442A CN201911169058.8A CN201911169058A CN111049442A CN 111049442 A CN111049442 A CN 111049442A CN 201911169058 A CN201911169058 A CN 201911169058A CN 111049442 A CN111049442 A CN 111049442A
Authority
CN
China
Prior art keywords
controller
servo motor
frequency
pir
rotational speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911169058.8A
Other languages
Chinese (zh)
Inventor
姚大磊
李虎修
丁信忠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Step Robotics Corp
Original Assignee
Shanghai Step Robotics Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Step Robotics Corp filed Critical Shanghai Step Robotics Corp
Priority to CN201911169058.8A priority Critical patent/CN111049442A/en
Publication of CN111049442A publication Critical patent/CN111049442A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

Abstract

The invention discloses a method for inhibiting the rotational speed pulsation of a servo motor, which is characterized in that a PIR controller is adopted in a speed loop to set the speed omega of the servo motorrm *And the feedback speed omegarmThe deviation of (a) is subjected to speed control to obtain a q-axis reference current iq *(ii) a The PIR controller comprises a PI controller and at least one n frequency multiplication resonance controller, wherein n is equal to 1, 2, 6 or 12; the PI controller and the at least one n-frequency multiplication resonant controller are connected in parallel, and the output value of the PIR controller is equal to the sum of the output results of the PI controller and the at least one n-frequency multiplication resonant controller. The rotational speed pulsation suppression method is characterized in that a resonance controller is connected in parallel on the basis of the traditional PI controller, so that the rotational speed pulsation of the servo motor can be suppressed, and the steady-state performance of the servo motor is effectively improved.

Description

Method for suppressing rotational speed pulsation of servo motor
Technical Field
The present invention relates to a servo motor control technique.
Background
The servo permanent magnet synchronous motor has the characteristics of high power density, high operating efficiency, reliable structure, excellent control performance and the like, and is widely applied to the fields of chemical engineering, light spinning, military industry and the like. Due to the influence of non-ideal factors such as motor cogging, flux linkage harmonic, current sampling deviation, inverter dead zone and the like, fundamental frequency, 2-order, 6-order, 12-order and other pulse components can appear in the rotating speed of the permanent magnet synchronous motor. The high-frequency pulsation component is attenuated by the rotational inertia of the motor and the bandwidth of the speed loop. Therefore, when the motor runs in a steady state, the periodic fluctuation component in the rotating speed of the motor is mainly the fundamental frequency and the second harmonic component caused by the current sampling error, and the 6 th harmonic caused by the flux linkage harmonic and the dead zone nonlinearity, thereby directly limiting the application range and the application field of the permanent magnet synchronous motor.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for suppressing the rotational speed pulsation of a servo motor, which can suppress the rotational speed pulsation of the servo motor and effectively improve the steady-state performance of the servo motor.
The technical scheme adopted by the invention is as follows:
a method for suppressing the rotation speed ripple of servo motor features that the PIR controller is used in speed loop to set the speed omega of servo motorrm *And the feedback speed omegarmThe deviation of (a) is subjected to speed control to obtain a q-axis reference current iq *(ii) a The PIR controller comprises a PI controller and at least one n frequency multiplication resonance controller, wherein n is equal to 1, 2, 6 or 12; the PI controller and the at least one n-frequency multiplication resonant controller are mutually connected in parallel, and the output value of the PIR controller is equal to the sum of the output results of the PI controller and the at least one n-frequency multiplication resonant controller; transfer function G of each n-times frequency controllern(s) is:
Figure BDA0002288221000000011
ω0for the fundamental frequency to be suppressed, s represents the laplacian operator.
According to the rotational speed pulsation suppression method provided by the embodiment of the invention, a resonance Controller (resonance Controller) is connected in parallel on the basis of the traditional PI Controller, so that the rotational speed pulsation of the servo motor can be suppressed, and the steady-state performance of the servo motor is effectively improved.
Drawings
Figure 1 shows a schematic diagram of a permanent magnet synchronous motor servo system based on a PIR controller of an embodiment of the present invention.
Figure 2 shows a schematic diagram of a PIR controller according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Figure 1 shows a schematic diagram of a permanent magnet synchronous motor servo system based on a PIR controller of an embodiment of the present invention. As shown in fig. 1, in the present embodiment, a PIR controller is used in the speed loop for a given speed ω of the PMSMrm *And the feedback speed omegarmThe deviation of (a) is subjected to speed control to obtain a q-axis reference current iq *。
In fig. 1, a current sensor (not shown) collects three-phase currents i of a PMSMa、ibAnd icThe position and speed sensor acquires the position angle theta of the rotor and the feedback speed omega of the motorrmVelocity of feedback omegarmAnd can also be obtained by position angle calculation. For the collected three-phase current ia、ibAnd icClark conversion and Park conversion are sequentially carried out to obtain d-axis actual current i of the motordAnd q-axis actual current iq. One of the PI current regulators is based on a d-axis reference current idAnd d-axis actual current idCalculating d-axis reference voltage U from the differencedAnother PI current regulator is based on q-axis reference current iqActual current i of x and q axesqCalculating q-axis reference voltage U by the differenceqFor d-axis reference voltage UdAnd q-axis reference voltage UqCarrying out Park inverse transformation to obtain α axis reference voltage U of the motorαAnd β axis reference voltage UβThe SVPWM signal generator generates a reference voltage U according to an α axisαAnd β axis reference voltage UβAnd generating a PWM signal for control, and outputting the PWM signal to a three-phase inverter to realize vector control of the PMSM.
Figure 2 shows a schematic diagram of a PIR controller according to an embodiment of the present invention. In this embodiment, the PIR controller 1 includes a PI controller 11, a frequency doubling resonance controller 12, and a frequency doubling resonance controller 13, the PI controller 11, the frequency doubling resonance controller 12, and the frequency doubling resonance controller 13 are connected in parallel, and the output value of the PIR controller is equal to the sum of the output results of the PI controller 11, the frequency doubling resonance controller 12, and the frequency doubling resonance controller 13.
The transfer function g(s) of the PI controller 11 is:
Figure BDA0002288221000000031
transfer function G of a frequency doubling resonant controller 121(s) is:
Figure BDA0002288221000000032
transfer function G of frequency-doubling resonance controller 132(s) is:
Figure BDA0002288221000000033
ω0for the fundamental frequency to be suppressed (fundamental frequency, i.e. frequency multiplication), s represents the Laplace operator, KPProportional gain, K, for PI controllersIIs the integral gain of the PI controller.
In other embodiments, a frequency six-fold resonance controller and a frequency twelve-fold resonance controller may be added to the PIR controller 1, or only one of the frequency one-fold resonance controller, the frequency two-fold resonance controller, the frequency six-fold resonance controller and the frequency twelve-fold resonance controller may be provided in the PIR controller 1. Which resonance controller or resonance controllers are specifically provided in the PIR controller 1 is determined according to the degree of interference of the fundamental frequency, 2-order, 6-order, and 12-order pulsation components appearing in the rotational speed. For example, if the interference of the 6 th and 12 th pulsating components is small, only one frequency doubling resonance controller and one frequency doubling resonance controller may be provided in the PIR controller 1, and if the interference of the 6 th pulsating components is also serious, a six frequency doubling resonance controller is added to the PIR controller 1. The severity of the disturbance can be determined by the actual current i to the q-axisqBy waveform analysis of (a). For the same pulsating component, only one corresponding resonance controller is provided in the PIR controller, e.g. for fundamental pulsating componentsIn other words, only one single frequency doubling resonance controller is provided in the PIR controller 1.
For any one of the n-times frequency resonance controllers (n is equal to 1, 2, 6 or 12), its transfer function Gn(s) is:
Figure BDA0002288221000000034
according to the rotating speed pulsation suppression method provided by the embodiment of the invention, the resonance controller is connected in parallel on the basis of the traditional PI controller, so that the rotating speed pulsation of the servo motor caused by current sampling errors, dead zones and the like can be suppressed, and the steady-state performance of the servo motor is effectively improved.

Claims (4)

1. A method for suppressing the rotation speed ripple of servo motor features that the PIR controller is used in speed loop to set the speed omega of servo motorrm *And the feedback speed omegarmThe deviation of (a) is subjected to speed control to obtain a q-axis reference current iq *；
Wherein the PIR controller comprises a PI controller and at least one n frequency multiplication resonance controller, and n is equal to 1, 2, 6 or 12; the PI controller and the at least one n-frequency multiplication resonant controller are connected in parallel, and the output value of the PIR controller is equal to the sum of the output results of the PI controller and the at least one n-frequency multiplication resonant controller; transfer function G of each n-times frequency controllern(s) is:
Figure FDA0002288220990000011
ω0for the fundamental frequency to be suppressed, s represents the laplacian operator.
2. The method for suppressing rotational speed ripple of a servo motor according to claim 1, wherein the PIR controller includes a PI controller, a frequency doubling resonance controller, and a frequency doubling resonance controller; the PI controller, the first frequency doubling resonance controller and the second frequency doubling resonance controller are connected in parallel;
transfer function G of the frequency-doubling resonance controller1(s) is:
Figure FDA0002288220990000012
transfer function G of the frequency doubling resonance controller2(s) is:
Figure FDA0002288220990000013
3. the method for suppressing rotational speed ripple of a servo motor according to claim 1, wherein the servo motor is a servo permanent magnet synchronous motor.
4. A method for suppressing rotational speed ripple of a servo motor according to any one of claims 1 to 3, wherein the control strategy of the servo motor is vector control.
CN201911169058.8A 2019-11-25 2019-11-25 Method for suppressing rotational speed pulsation of servo motor Pending CN111049442A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911169058.8A CN111049442A (en) 2019-11-25 2019-11-25 Method for suppressing rotational speed pulsation of servo motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911169058.8A CN111049442A (en) 2019-11-25 2019-11-25 Method for suppressing rotational speed pulsation of servo motor

Publications (1)

Publication Number Publication Date
CN111049442A true CN111049442A (en) 2020-04-21

Family

ID=70233324

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911169058.8A Pending CN111049442A (en) 2019-11-25 2019-11-25 Method for suppressing rotational speed pulsation of servo motor

Country Status (1)

Country Link
CN (1) CN111049442A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112217436A (en) * 2020-10-22 2021-01-12 大连海事大学 Method for inhibiting permanent magnet synchronous motor rotating speed pulsation caused by current measurement error
WO2022110555A1 (en) * 2020-11-24 2022-06-02 潍柴动力股份有限公司 Method and apparatus for suppressing torque ripple of permanent magnet synchronous motor

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103401500A (en) * 2013-08-20 2013-11-20 东南大学 Rotating speed ripple reduction method of high-precision permanent-magnet synchronous motor alternating current servo system based on repetitive controller
CN103595323A (en) * 2013-11-20 2014-02-19 天津大学 Current control method for improving output torque of permanent magnet synchronous motor overmodulation area
US20170318701A1 (en) * 2016-05-02 2017-11-02 Lutron Electronics Co., Inc. Fan speed control device
CN107453363A (en) * 2017-09-25 2017-12-08 湖南大学 Direct-drive permanent-magnetism blower fan harmonics restraint optimization method under line voltage unbalanced fault
CN109449941A (en) * 2018-10-22 2019-03-08 北京印刷学院 Voltage source operating mode active filter control method based on virtual impedance control

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103401500A (en) * 2013-08-20 2013-11-20 东南大学 Rotating speed ripple reduction method of high-precision permanent-magnet synchronous motor alternating current servo system based on repetitive controller
CN103595323A (en) * 2013-11-20 2014-02-19 天津大学 Current control method for improving output torque of permanent magnet synchronous motor overmodulation area
US20170318701A1 (en) * 2016-05-02 2017-11-02 Lutron Electronics Co., Inc. Fan speed control device
CN107453363A (en) * 2017-09-25 2017-12-08 湖南大学 Direct-drive permanent-magnetism blower fan harmonics restraint optimization method under line voltage unbalanced fault
CN109449941A (en) * 2018-10-22 2019-03-08 北京印刷学院 Voltage source operating mode active filter control method based on virtual impedance control

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
刘子锐: ""永磁同步电机周期性转矩/转速脉动抑制技术研究"", 《中国优秀硕士论文，工程科技II辑》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112217436A (en) * 2020-10-22 2021-01-12 大连海事大学 Method for inhibiting permanent magnet synchronous motor rotating speed pulsation caused by current measurement error
WO2022110555A1 (en) * 2020-11-24 2022-06-02 潍柴动力股份有限公司 Method and apparatus for suppressing torque ripple of permanent magnet synchronous motor

Similar Documents

Publication Publication Date Title
Tang et al. Suppression of dead-time distortion through revised repetitive controller in PMSM drives
Rodríguez et al. High-performance control strategies for electrical drives: An experimental assessment
Zhou et al. Sensorless BLDC motor commutation point detection and phase deviation correction method
Hafez et al. Single-sensor-based three-phase permanent-magnet synchronous motor drive system with Luenberger observers for motor line current reconstruction
WO2013021998A1 (en) Control device
CN109768753B (en) Novel sliding-mode observer position-sensorless permanent magnet synchronous motor model prediction control method
Michalski et al. Sensorless control of five phase PMSM based on extended Kalman filter
CN111049442A (en) Method for suppressing rotational speed pulsation of servo motor
CN112039386A (en) Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor
Hu et al. Digital current control of an asymmetrical dual three-phase flux-switching permanent magnet machine
Abdelwanis et al. A fuzzy-based controller of a modified six-phase induction motor driving a pumping system
JP2019083672A (en) Inverter, and drive control method for motor
CN111293946A (en) Method for suppressing harmonic current of motor
Lin et al. Position sensorless direct torque control for six‐phase permanent magnet synchronous motor under two‐phase open circuit
Wang et al. Comparative study of low-pass filter and phase-locked loop type speed filters for sensorless control of AC drives
Yepes et al. Torque ripple minimization in surface-mounted PM drives by means of PI+ multi-resonant controller in synchronous reference frame
CN110784147A (en) Motor position-free vector control system based on dead zone compensation and motor system
CN114301361B (en) Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control
CN114157193B (en) Optimization interpolation type synchronous motor torque pulsation suppression control method and system
CN111740675B (en) Two-degree-of-freedom control method for discrete domain current loop high robustness of permanent magnet synchronous motor
WO2017221320A1 (en) Motor control device and control method
Wang et al. Force ripples suppression of tubular transverse flux and flux reversal linear permanent magnet motor based on ADRC
CN113241981A (en) Multiphase fault-tolerant flux switching permanent magnet motor backstepping sliding mode control method
CN111769777A (en) Two-degree-of-freedom control method for discrete domain current loop of permanent magnet synchronous motor
Morimoto et al. Suppression of harmonic current for IPMSM using generalized repetitive control

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination