基于普通精度增量式编码器的永磁伺服电机低速检测与控制优化方法研究

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摘要

针对永磁同步伺服电机传统控制方法的缺点,提出了一种基于普通精度增量式编码器的低速检测与控制优化方法。在普通低速区,该方法通过扩展M/T法来提高速度检测精度;在超低速区,采用一种改进的T法进行闭环跟踪反馈以实现高精度的速度检测,同时,采用参考速度自适应的PI控制方法,从而获得较好的速度控制性能。最后,在DSP控制器和永磁无刷伺服电机上进行了实验,实验结果表明,所提的优化策略提高了系统低速时的动态性能,扩展了系统的调速范围。

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	汪兆栋
	文小琴
	游林儒
	黄招彬

关键词 ：永磁伺服电机, 增量式编码器, 扩展M/T法, 自适应PI控制器, 超低速

Abstract：

Aiming at the shortcomings of traditional control method for permanent magnet servo motors,an optimal speed detecting and controlling approach at low speed range is presented with ordinary-resolution incremental encoder in this paper.An extended M/T method is adopted for improving the speed of detection precision at ordinary-low speed range,and an improved T-method with closed-loop tracking feedback is employed for realizing high-precision speed detection at ultra-low speed range and an adaptive Proportion-Integration controller of reference speed is applied for obtaining a better speed control performance.Finally,sufficient experiments are implemented by the proposed approach on DSP controller and permanent magnet brush-less servo motor.Experimental results demonstrate that the dynamic performance at low speed is greatly enhanced and the adjustable speed range is extremely expanded.

Key words： Permanent magnet servo motor incremental encoder extended M/T method adaptive PI controller ultra-low speed

收稿日期: 2015-05-25 出版日期: 2016-11-21

PACS:

TM351

基金资助:

国家自然科学基金面上项目(61271210)和中央高校基本科研业务费专项资金项目(x2zd-D2154930)资助。

作者简介: 汪兆栋男,1981年生,博士研究生,讲师,研究方向为电机与运动控制、永磁同步电机控制。E-mail:Wangzimochao@163.com(通信作者)文小琴女,1977年生,博士,讲师,研究方向为电力电子技术及其应用,数据处理。E-mail:xqwen@scut.edu.cn

引用本文:

汪兆栋,文小琴,游林儒,黄招彬. 基于普通精度增量式编码器的永磁伺服电机低速检测与控制优化方法研究[J]. 电工技术学报, 2016, 31(21): 212-220. Wang Zhaodong,Wen Xiaoqin,You Linru,Huang Zhaobin. Research on Detection and Control Optimized Approach for Permanent Magnet Servo Motors at Low Speed with Ordinary-Resolution Incremental Encoder. Transactions of China Electrotechnical Society, 2016, 31(21): 212-220.

链接本文:

https://dgjsxb.ces-transaction.com/CN/Y2016/V31/I21/212

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