CN114079409A - Linear motor control system and control method - Google Patents

Linear motor control system and control method Download PDF

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Publication number
CN114079409A
CN114079409A CN202010830546.5A CN202010830546A CN114079409A CN 114079409 A CN114079409 A CN 114079409A CN 202010830546 A CN202010830546 A CN 202010830546A CN 114079409 A CN114079409 A CN 114079409A
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motor
force
control module
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邹宇
李思阳
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Goal Technology Shenzhen Co ltd
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    • 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
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed

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  • Control Of Linear Motors (AREA)

Abstract

The invention provides a linear motor control system and a method, wherein the control system comprises a position control module, a speed control module, an electromechanical module and a sensing module; the position control module receives a position control signal and outputs a speed control signal to the speed control module and then outputs a current control signal; the electromechanical module comprises a current control module, a force control module and a motor, the sensing module acquires a position feedback signal, a speed feedback signal and a current feedback signal which are fed back by the motor, the position control module adjusts and outputs the speed control signal according to the position feedback signal, and the speed control module adjusts and outputs the current control signal according to the speed feedback signal; the force control module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal.

Description

Linear motor control system and control method
Technical Field
The invention relates to the technical field of motor control, in particular to a linear motor control system and a control method.
Background
At present, the linear motor and the production technology and application technology of the driver thereof are in the development stage in industrially developed countries, and present great vitality as a brand-new feeding mode, and enter the industrial application stage abroad, but the research and application of the domestic linear motor are in the starting stage, and the three-closed loop (current loop, speed loop and position loop) control is applied to the servo motor in the industrial field in a mature way, and the control method can be referred and applied to the linear motor.
Therefore, it is necessary to provide a linear motor control system and a control method to solve the above technical problems.
Disclosure of Invention
In order to solve the above technical problem, an embodiment of the present invention provides a linear motor control system, where the control system includes a position control module, a speed control module, an electromechanical module, and a sensing module;
the position control module is connected with the speed control module and used for receiving a position control signal and outputting a speed control signal;
the speed control module is used for receiving the speed control signal and outputting a current control signal;
the electromechanical module is connected with the speed control module and comprises a current control module, a force control module and a motor, wherein the current control module is used for receiving the current control signal and controlling the position of the motor according to the current control signal;
the sensing module is connected with the position control module, the speed control module and the electromechanical module and used for acquiring a position feedback signal, a speed feedback signal and a current feedback signal which are fed back by the motor, the position control module adjusts and outputs the speed control signal according to the position feedback signal, and the speed control module adjusts and outputs the current control signal according to the speed feedback signal; the force control module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal.
According to an embodiment of the present invention, the sensing module includes a first sensing unit and a second sensing unit, the first sensing unit is connected to the position control module, the speed control module and the motor, and is configured to obtain the position feedback signal and obtain the speed feedback signal according to the position feedback signal, and the second sensing unit is connected to the current control module and the force control module, and is configured to obtain the current feedback signal.
According to an embodiment of the present invention, the force control module includes a force observation unit and a cogging force unit, the force observation unit is connected to the first sensing unit and the second sensing unit, and is configured to obtain a motor constant of the motor according to the current feedback signal and the position feedback signal, and the cogging force unit is connected to the first sensing unit, and is configured to obtain a cogging force of the motor according to the position feedback signal.
According to an embodiment of the present invention, the force control module further includes a force compensation unit, and the force compensation unit is connected to the force observation unit and the cogging force unit, and configured to perform force compensation according to the motor constant, the cogging force, and a preset load of the motor, so that a force compensation result is output when a difference between a force of the preset load of the motor and a force of an actual load of the motor is smaller than a preset threshold.
According to an embodiment of the present invention, the current control module includes a current controller, and the current controller is connected to the force control module and configured to output the current compensation signal according to the force compensation result.
According to an embodiment of the present invention, the current control module includes a driving unit and a current converting unit, the driving unit is connected to the speed control unit and configured to convert an external voltage into a driving voltage for driving the motor according to the current control signal, the current converting unit is connected to the driving unit and the motor and configured to obtain a driving current according to a physical parameter of the motor and the driving voltage, and the motor outputs a position of the motor according to an actual load of the motor and a motor constant of the motor under driving of the driving current.
According to an embodiment of the present invention, the electromechanical module further includes a counter electromotive force module, connected to the current control module and the motor, for adjusting the output of the driving current according to a position of the motor.
According to one embodiment of the invention, the position control module comprises a position controller and the velocity control module comprises a velocity controller.
According to an embodiment of the present invention, the current controller, the position controller, and the speed controller are all PI controllers.
In order to solve the above technical problem, another embodiment of the present invention provides a linear motor control method, including:
the position controller receives a position control signal and outputs a speed control signal to the speed controller, so that the speed controller outputs a current control signal according to the speed control signal, and the electromechanical module receives the current control signal and controls the position of a motor of the electromechanical module according to the current control signal;
a sensor acquires a position feedback signal, a speed feedback signal and a current feedback signal of the position of the motor, the position controller adjusts and outputs the speed control signal according to the position feedback signal, and the speed controller adjusts and outputs the current control signal according to the speed feedback signal; the electromechanical module carries out force compensation and outputs a current compensation signal according to the position feedback signal and the current feedback signal, adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal, and adjusts the motor position of the electromechanical module according to the adjusted current control signal.
Compared with the prior art, according to the linear motor control system and the control method, the speed control signal is adjusted and output by the position control module according to the position feedback signal, and the current control signal is adjusted and output by the speed control module according to the speed feedback signal; the force control module performs force compensation and outputs a current compensation signal according to the position feedback signal and the current feedback signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal to realize accurate control of the linear motor control system on the motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a linear motor control system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a linear motor control system according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a force control module of a linear motor control system in accordance with an embodiment of the present invention.
Fig. 4 is a flowchart of a linear motor control method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," and "third," etc. in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 2 and fig. 3 together, fig. 1 is a schematic structural diagram of a linear motor control system 1 according to an embodiment of the present invention, fig. 2 is a schematic diagram of the linear motor control system 1 according to the embodiment of the present invention, and fig. 3 is a schematic diagram of a force control module 132 of the linear motor control system 1 according to the embodiment of the present invention. The linear motor control system 1 includes a position control module 11, a speed control module 12, an electromechanical module 13, and a sensing module 14.
According to an embodiment of the present invention, the position control module 11 includes a position controller 111, and the speed control module 12 includes a speed controller 121, in this embodiment, both the position controller 111 and the speed controller 121 are PI controllers. The position control module 11 is connected to the speed control module 12, the electromechanical module 13 is connected to the speed control module 12, the position control module 11 receives a position control signal x, outputs a speed control signal v to the speed control module 12 through the position controller 111, and the speed controller 121 of the speed control module 12 outputs a current control signal i according to the speed control signal v; the electromechanical module 14 is connected to the speed control module 12, in this embodiment, the electromechanical module 14 includes a current control module 131, a force control module 132, and a motor 133, wherein the current control module 131 further includes a current controller 131a, and the current controller 131a is connected to the force control module 132, wherein the current controller is also a PI controller. The current control module 131 receives the current control signal i output by the speed control module 12 and then controls the position x of the motor 133 according to the current control signal i.
Specifically, the current control module 131 includes a driving unit 131b and a current converting unit 131c, the driving unit 131b is connected to the speed control unit 12, the driving unit 131b converts an external voltage V into a driving voltage V(s) for driving the motor 133 according to the current control signal i, the current converting unit 131c is connected to the driving unit 131b and the motor 133, and obtains a driving current i according to a physical parameter of the motor 133 and the driving voltage V(s), in this embodiment, the physical parameter of the motor 133 includes a motor phase inductance and a motor phase resistance, and the driving voltage V(s) loaded at two ends of a coil of the motor 133 is:
Figure BDA0002637798750000051
wherein i(s) is a driving current, L is a motor phase inductance of the motor 133, and R is a motor phase resistance of the motor 133.
The motor 133 is driven by the driving current i(s) according to the actual load F of the motor 133lAnd a motor constant k of the motor 133 outputs a position x of the motor 133.
If is provided with kcFor the current gain of the coil current conversion of the motor 133, the PI controller closed loop current loop function can be expressed as:
Figure BDA0002637798750000052
i*(s) is the current control signal, i(s) is the driving current, kp, ki are respectively PI controller gains, L is the motor phase inductance of the motor 133, and R is the motor phase resistance of the motor 133.
When k isc、kpWith much greater than R, the drag is negligible and equation (2) can be expressed as:
Figure BDA0002637798750000053
the parameters of the PI controller can be defined by an attenuation coefficient lambda and a natural frequency omeganTo conclude, equation (3) can be expressed as:
Figure BDA0002637798750000061
Figure BDA0002637798750000062
since the relationship between the electromagnetic force and the driving current is expressed by the motor constant k in equation (3), the relationship between the driving current and the mover position of the motor 133 can be expressed as:
Figure BDA0002637798750000063
wherein, M, B and C are the denominator system numbers of the second-order transfer function.
In another embodiment, the electromechanical module 13 further includes a counter electromotive force module 134, wherein the counter electromotive force module 134 is connected to the current control module 131 and the motor 133, and adjusts and outputs the driving current i according to the position x of the motor 133.
The sensing module 14 is connected to the position control module 11, the speed control module 12, and the electromechanical module 13, the sensing module 14 may obtain a position feedback signal, a speed feedback signal, and a current feedback signal fed back by the motor 133, the position control module 11 adjusts and outputs the speed control signal v according to the position feedback signal, and the speed control module 12 adjusts and outputs the current control signal i according to the speed feedback signal; the force control module 132 performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module 132 adjusts and outputs the current control signal i according to the current feedback signal and the current compensation signal, so as to adjust the position x of the motor 133. In this embodiment, the sensing module 14 includes a first sensing unit 141, a second sensing unit 142, the first sensing unit 141 is connected to the position control module 11, the speed control module 12 and the motor 133, the first sensing unit 141 may acquire the position feedback signal of the motor 133, and obtains the speed feedback signal according to the position feedback signal, and outputs the position feedback signal to the position control module 11, and outputs the speed feedback signal to the speed control module 12, the second sensing unit 142 is connected to the current control module 131 and the force control module 132, the second sensing unit 142 can obtain the current feedback signal from the output of the current control module 131, and outputs the current feedback signals to the current control module 131 and the force control module 132 simultaneously.
The force control module 132 includes a force observation unit 132a and a cogging force unit 132b, the force observation unit 123a is connected to the first sensing unit 141 and the second sensing unit 142, the motor constant k of the motor 133 is obtained according to the position feedback signal fed back by the first sensing unit 141 and the current feedback signal fed back by the second sensing unit 142, and the cogging force unit 132b is connected to the first sensing unit 142, and the cogging force of the motor 133 is obtained according to the position feedback signal fed back by the first sensing unit 141. In this embodiment, the force control module 132 further includes a force compensation unit 132c, the force compensation unit 132c is connected to the force observation unit 132a and the cogging force unit 132b, and performs force compensation according to the motor constant, the cogging force and a preset load of the motor 133, so that when a difference between a force of the preset load of the motor 133 and a force of an actual load of the motor is smaller than a preset threshold, a force compensation result is output, and the current controller 131a outputs the current compensation signal according to the force compensation result of the force control module 132. In particular, the amount of the solvent to be used,
since the force output deformation is mainly caused by local magnetic field saturation and cogging forces, the force output versus current relationship of the motor 133 will behave as a non-linear behavior due to magnetic field saturation. The motor constant k is not always constant throughout the stroke and operation of the motor 133, and the relationship between the back emf and the speed of the motor 133 is also non-linear. The force control module 132 is used to compensate the current control signal i. The force observation unit 132a is a function of position x and the drive current i, representing the non-linear nature of the motor constant k. The force control module 132 integrates the motor constant k, the cogging force and the force generated by the actual load of the motor 133, so as to feed back the force generated by the actual load to the current controller 131a to adjust the current control signal i, the force generated by the actual load is equivalent to the product of the driving current i of the motor 133 and the force constant, and the cogging force and the force output deformation can be obtained by a finite element analysis method and are compensated by the force control module 132. When the motor 133 enters a stable operation state, equation (6) can be expressed as:
Figure BDA0002637798750000071
wherein k1 is the interference coefficient of the motor current change rate to the motor output, k2 is the motor force constant, i.e. the ratio of the motor output to the motor current, and s is the Laplace operator. To find k1，k2And actually measuring the force output generated by the actual load, and combining the results of a finite element analysis method and theoretical calculation, wherein the force generated by the actual load, the cogging force and the force deformation can be estimated by the finite element analysis method. The error of its estimation can be regarded as an error in the definition of the parameters of the motor 133. The motor constant k can be defined by the following equation (8):
A(z-1)x(t)＝B(z-1)i(t)+ε(t) (8)
where i (t) is a driving circuit, x is a position of the motor, equation (8) can be expressed in a discrete time form, and ∈ (t) is taken as an estimation error and a remaining interference coefficient of the linear motor control system 1, and an expression thereof is:
A(z-1)＝1+a1z-1+a2z-2 (9)
B(z-1)＝b0+b1z-1 (10)
suppose a in the formulas (9) and (10)1 a2 b0 b1The mover mass, the damping coefficient B, and the coefficient C of the motor 133 are estimated, and the motor constant k is calculated.
Wherein, the following formula (11), a1 a2 b0 b1Can be found from a least squares matrix.
Figure BDA0002637798750000081
Wherein θ ═ a1,a2,b0,b1]，
Figure BDA0002637798750000082
And ε (t) is the residual error. θ can be obtained by the recursive least squares method and the forgetting factor ρ in the following procedure.
Figure BDA0002637798750000083
Figure BDA0002637798750000084
Figure BDA0002637798750000085
P (t) and G (t) are covariance matrix and gain adjustment, ρ is a constant value, and in this embodiment, ρ is usually between 0.95 and 1. P (t) is an initial value matrix with a limited range, I is an identity matrix, and the emergency braking rule of the motor 133 is as follows:
Figure BDA0002637798750000086
e is a preset threshold, that is, the difference between the force of the preset load of the motor 133 and the force of the actual load of the motor is smaller than the preset threshold, the motor constant k can be obtained, when the motor constant k converges, a force compensation result is output, and the current controller 131a outputs the current compensation signal according to the force compensation result of the force control module 132.
The linear motor control system 1 of the invention adjusts and outputs the speed control signal according to the position feedback signal through the position control module 11, and the speed control module 12 adjusts and outputs the current control signal according to the speed feedback signal; the force control module 132 performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module 131 adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal to realize accurate control of the linear motor control system 1 on the motor 133.
Further, the result of the finite element analysis method and the theoretical calculation are combined, so that the error of the theoretical calculation can be reduced, and the motor constant k of the motor 133 can be obtained without a complicated actual measurement process, thereby realizing the accurate control of the motor 133.
Referring to fig. 4, fig. 4 is a flowchart of a linear motor control method according to an embodiment of the present invention. The linear motor control method includes:
step S101: the position controller receives a position control signal and outputs a speed control signal to the speed controller, so that the speed controller outputs a current control signal according to the speed control signal, and the electromechanical module receives the current control signal and controls the position of a motor of the electromechanical module according to the current control signal.
Specifically, in step S101, the position controller and the speed controller are both PI controllers. The position controller receives a position control signal x and outputs a speed control signal v to the speed controller, and the speed controller outputs a current control signal i according to the speed control signal v; the electromechanical module controls the position x of the motor according to the current control signal i.
In this embodiment, the driving unit of the electromechanical module converts the external voltage V into the driving voltage V(s) for driving the motor 133 according to the current control signal i, the current converting unit of the electromechanical module obtains the driving current i according to the physical parameter of the motor 133 and the driving voltage V(s), and the motor 133 drives the motor 133Driven by a current i according to the actual load F of the motor 133lAnd a motor constant k of the motor 133 outputs a position x of the motor 133.
Step S102: the sensor obtains a position feedback signal, a speed feedback signal and a current feedback signal of the position of the motor, the position controller adjusts and outputs the speed control signal according to the position feedback signal, and the speed controller adjusts and outputs the current control signal according to the speed feedback signal.
Further, the sensor can acquire a position feedback signal, a speed feedback signal and a current feedback signal which are fed back by the motor, the position controller adjusts and outputs the speed control signal v according to the position feedback signal, and the speed controller adjusts and outputs the current control signal i according to the speed feedback signal, so that position loop and speed loop control is realized.
Step S103: the electromechanical module carries out force compensation and outputs a current compensation signal according to the position feedback signal and the current feedback signal, adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal, and adjusts the motor position of the electromechanical module according to the adjusted current control signal.
In step S103, the force control module of the electromechanical module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current controller of the electromechanical module adjusts and outputs the current control signal i according to the current feedback signal and the current compensation signal, so as to adjust the position x of the motor.
The force control module obtains a motor constant k of the motor and a cogging force of the motor 133 according to the feedback position feedback signal and the feedback current signal. In this embodiment, the force control module 132 further performs force compensation according to the motor constant k, the cogging force and a preset load of the motor 133, so that when a difference between a force of the preset load of the motor 133 and a force of an actual load of the motor is smaller than a preset threshold, the motor constant k can be obtained, when the motor constant k converges, a force compensation result is output, and the current controller outputs the current compensation signal according to the force compensation result of the force control module.
According to the linear motor control method, the electromechanical module carries out force compensation and outputs a current compensation signal according to the position feedback signal and the current feedback signal, and adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal, the electromechanical module adjusts the motor position of the electromechanical module according to the adjusted current control signal, and a three-closed-loop (position loop, speed loop and current loop) control method is applied to a linear motor, so that the linear motor is accurately controlled.
Furthermore, the force control module of the electromechanical module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current controller of the electromechanical module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal, so that the position of the motor is adjusted, and the accuracy of controlling the linear motor is improved.
The above disclosure is only one embodiment of the present invention, and certainly should not be construed as limiting the scope of the invention, which is defined by the claims and their equivalents.

Claims (10)

1. A linear motor control system is characterized by comprising a position control module, a speed control module, an electromechanical module and a sensing module;
the position control module is connected with the speed control module and used for receiving a position control signal and outputting a speed control signal;
the speed control module is used for receiving the speed control signal and outputting a current control signal;
the electromechanical module is connected with the speed control module and comprises a current control module, a force control module and a motor, wherein the current control module is used for receiving the current control signal and controlling the position of the motor according to the current control signal;
the sensing module is connected with the position control module, the speed control module and the electromechanical module and used for acquiring a position feedback signal, a speed feedback signal and a current feedback signal which are fed back by the motor, the position control module adjusts and outputs the speed control signal according to the position feedback signal, and the speed control module adjusts and outputs the current control signal according to the speed feedback signal; the force control module performs force compensation according to the position feedback signal and the current feedback signal and outputs a current compensation signal, and the current control module adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal.
2. The linear motor control system of claim 1, wherein the sensing module comprises a first sensing unit and a second sensing unit, the first sensing unit is connected to the position control module, the speed control module and the motor and configured to obtain the position feedback signal and obtain the speed feedback signal according to the position feedback signal, and the second sensing unit is connected to the current control module and the force control module and configured to obtain the current feedback signal.
3. The linear motor control system according to claim 2, wherein the force control module comprises a force observation unit and a cogging force unit, the force observation unit is connected to the first sensing unit and the second sensing unit and is configured to obtain a motor constant of the motor according to the current feedback signal and the position feedback signal, and the cogging force unit is connected to the first sensing unit and is configured to obtain a cogging force of the motor according to the position feedback signal.
4. The linear motor control system of claim 3, wherein the force control module further comprises a force compensation unit, and the force compensation unit is connected to the force observation unit and the cogging force unit and configured to perform force compensation according to the motor constant, the cogging force and a preset load of the motor, so that a force compensation result is output when a difference between a force of the preset load of the motor and a force of an actual load of the motor is smaller than a preset threshold.
5. The linear motor control system of claim 4, wherein the current control module comprises a current controller, the current controller is connected to the force control module and configured to output the current compensation signal according to the force compensation result.
6. The linear motor control system according to claim 1, wherein the current control module includes a driving unit and a current conversion unit, the driving unit is connected to the speed control unit and configured to convert an external voltage into a driving voltage for driving the motor according to the current control signal, the current conversion unit is connected to the driving unit and the motor and configured to obtain a driving current according to a physical parameter of the motor and the driving voltage, and the motor outputs the position of the motor according to an actual load of the motor and a motor constant of the motor under the driving of the driving current.
7. The linear motor control system of claim 6, wherein the electromechanical module further comprises a counter electromotive force module, the counter electromotive force module being connected to the current control module and the motor for adjusting the output of the driving current according to a position of the motor.
8. The linear motor control system of claim 5, wherein the position control module includes a position controller and the speed control module includes a speed controller.
9. The linear motor control system of claim 8, wherein the current controller, the position controller, and the speed controller are PI controllers.
10. A linear motor control method, comprising:
the position controller receives a position control signal and outputs a speed control signal to the speed controller, so that the speed controller outputs a current control signal according to the speed control signal, and the electromechanical module receives the current control signal and controls the position of a motor of the electromechanical module according to the current control signal;
a sensor acquires a position feedback signal, a speed feedback signal and a current feedback signal of the position of the motor, the position controller adjusts and outputs the speed control signal according to the position feedback signal, and the speed controller adjusts and outputs the current control signal according to the speed feedback signal; the electromechanical module carries out force compensation and outputs a current compensation signal according to the position feedback signal and the current feedback signal, adjusts and outputs the current control signal according to the current feedback signal and the current compensation signal, and adjusts the motor position of the electromechanical module according to the adjusted current control signal.
CN202010830546.5A 2020-08-18 2020-08-18 Linear motor control system and control method Pending CN114079409A (en)

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