Low-speed operation control method of permanent magnet direct-drive servo motor

• Main Authors: XUAN FUQIANG, ZHANG DELI, ZHANG CHENRUI, QIAN RUN, BU FEIFEI, LU YANZHOU
• Format: Patent
• Language: Chinese; English
• Published: 20.11.2020
• Subjects: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER; ELECTRICITY; GENERATION

The invention discloses a low-speed operation control method of a permanent magnet direct-drive servo motor, and belongs to the technical field of power generation, power transformation and power distribution. A traditional speed instruction is converted into a real-time rotor position track through an integrator. On the basis of position-current two-loop control, a rotor position tracking controller is designed to realize smooth tracking of a track, so that a stable speed is obtained. According to the method disclosed by the invention, periodic and non-periodic torque disturbance can be suppressed at the same time at a low speed or even an extremely low speed when the motor is driven, accurate speed feedback and specific torque disturbance information are not needed, and the implementation is simple, so that the precision, the response speed and the robustness of low-speed control of the direct-drive servo system are improved. 本发明公开了一种永磁直驱伺服电机的低速运行控制方法，属于发电、变电、配电的技术领域。本发明利用积分器将传统的速度指令转化为实时的转子位置轨迹。在位置-电流两环控制的