Torque Disturbance Suppression Strategy of Permanent Magnet Direct Drive Servo Motor Based on Improved Reduced Order Observer
Bu Feifei1, Guo Zitao1, Gu Yijun2, Xuan Fuqiang1, Qin Haihong1
1. School of Automation Nanjing University of Aeronautics and Astronautics Nanjing 211106 China 2. 724 Research Institute China Shipbuilding Industry Corporation Nanjing 211106 China
Abstract：Due to the direct drive characteristics of the permanent magnet direct drive motor, the stability of the motor speed is greatly affected by torque disturbance, and the motor speed fluctuates violently affected by the cogging torque when running at low speed. This paper analyzes the disadvantage that the traditional proportional-integral speed control method cannot take into account both the tracking performance and the anti-disturbance performance. To this end, a traditional reduced-order state observer is introduced to estimate and feedforward the torque disturbance. The Bode plot and sawtooth wave response of the transfer function between the system disturbance torque and the real torque are analyzed, and the zero-pole cancellation is performed. Based on the principle, the transfer function is expected to be designed, and the differential unit is introduced to improve the traditional reduced-order observer. The sawtooth wave response of the improved observer is given and the improvement of the compensation response speed is demonstrated. A feedforward compensation method is proposed. An experimental platform for perturbation suppression of permanent magnet direct drive servo motor is built. Simulation and experiments verify that the improved reduced-order observer has good performance in suppressing compensation resonance, and has strong anti-disturbance ability, which can achieve stable operation under large disturbance and low speed.
卜飞飞, 郭子韬, 顾毅君, 轩富强, 秦海鸿. 基于改进型降阶观测器的永磁直驱伺服电动机转矩扰动抑制策略[J]. 电工技术学报, 2022, 37(16): 4104-4115.
Bu Feifei, Guo Zitao, Gu Yijun, Xuan Fuqiang, Qin Haihong. Torque Disturbance Suppression Strategy of Permanent Magnet Direct Drive Servo Motor Based on Improved Reduced Order Observer. Transactions of China Electrotechnical Society, 2022, 37(16): 4104-4115.
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2022, Vol. 37 
