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Multi-closed loop method introducing torque correction into high-precision tracking system

A tracking system and force introduction technology, applied in the field of tracking control, can solve the problems of speed fluctuation, torque fluctuation, low torque closed-loop bandwidth, etc., to achieve smooth motor speed, fast torque response, and meet the requirements of rapidity.

Active Publication Date: 2012-07-18
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: to overcome the problems of torque fluctuation and rotational speed fluctuation caused by the low accuracy of torque control by the current loop in the existing tracking control system, and to provide a multi-closed-loop method for introducing torque correction into the high-precision tracking system , this method adopts the introduction of torque estimator with torque correction function, on the one hand, it can achieve precise control of torque, on the other hand, it can overcome the shortcoming of low torque closed-loop bandwidth

Method used

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  • Multi-closed loop method introducing torque correction into high-precision tracking system
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  • Multi-closed loop method introducing torque correction into high-precision tracking system

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Embodiment Construction

[0020] Firstly, some parameters of a high-precision tracking system are introduced as follows: This system uses a permanent magnet synchronous torque motor as an actuator. The parameters of the torque motor are as follows: stator resistance r = 2.125Ω; inductance L d = L q =11.6mH; number of poles p=12; moment coefficient K t =1.8Nm / A; the direct axis component of permanent magnet flux linkage is ψ dm = 0.1994Wb;

[0021] The transfer function of the mechanical part of the tracking system is:

[0022] G m ( s ) = 2.8 ( 4.788 e - 007 s 2 + 3.46 e - 005 s + ...

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Abstract

The invention provides a multi-closed loop method introducing torque correction into high-precision tracking system, wherein the high-precision tracking system has higher requirement on the rapidity and the stability of rotation speed and torque. The conventional current closed loop can not restrain torque fluctuation caused by the distortion of a motor magnetic field; and the bandwidth of the torque closed loop is limited, so that rapid torque response can not be provided. Aiming at the permanent magnet synchronous motor-driven high-precision tracking system, the invention provides a multi-closed loop control mode replacing the conventional current closed loop-speed closed loop multi-closed loop control mode with the current closed loop-speed closed loop multi-closed loop control mode in which the torque correction is introduced, so that the high-speed bandwidth torque response can be provided, the torque fluctuation caused by the harmonic wave of the motor magnetic field can be restrained, and the torque correction parameter can be estimated by a torque estimator in real time.

Description

technical field [0001] The invention belongs to the field of tracking control and relates to a control method of a permanent magnet synchronous motor in a high-precision tracking system. Background technique [0002] At present, the photoelectric tracking system mostly uses DC torque motor as the driving mechanism, but the DC torque motor has the disadvantages of commutation spark, large electromagnetic interference, large commutation friction and easy wear because of the mechanical brush and commutator. The permanent magnet synchronous motor adopts electronic commutation, which successfully avoids the above problems. At the same time, because the excitation magnetic field of the permanent magnet synchronous motor is a sine wave, it has smaller torque fluctuation than the square wave brushless DC motor, so it is widely used in robots, CNC machine tools and aerospace. However, due to the existence of magnetic field harmonics and cogging torque, the permanent magnet synchrono...

Claims

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Application Information

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IPC IPC(8): H02P21/13
Inventor 李锦英付承毓包启亮陈兴龙田竞杨云伟
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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