CN112600474A - Permanent magnet brushless direct current motor position servo system based on composite position controller - Google Patents

Permanent magnet brushless direct current motor position servo system based on composite position controller Download PDF

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Publication number
CN112600474A
CN112600474A CN202011395474.2A CN202011395474A CN112600474A CN 112600474 A CN112600474 A CN 112600474A CN 202011395474 A CN202011395474 A CN 202011395474A CN 112600474 A CN112600474 A CN 112600474A
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module
permanent magnet
magnet brushless
position controller
motor
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王会明
万谦
王雪闯
陈晓雷
唐贤伦
李锐
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a permanent magnet brushless DC motor position servo system based on a composite position controller, which comprises: the system comprises a composite position controller module, a PI control module, a driving circuit module, a current sampling module, a permanent magnet brushless direct current motor and a position detection and calculation module, wherein the composite position controller module is a composite controller consisting of a sliding mode feedback control part based on an exponential approximation rule and an interference estimation and compensation part based on an extended state observer.

Description

Permanent magnet brushless direct current motor position servo system based on composite position controller
Technical Field
The invention belongs to a control method of a permanent magnet brushless direct current motor, and particularly relates to a control method of a permanent magnet brushless direct current motor position servo system based on an extended state observer and sliding mode control.
Background
The permanent magnet brushless direct current motor is a novel direct current motor developed along with rapid development of power electronic technology, manufacturing industry and novel materials, and is widely applied to the industrial fields of aerospace, household appliances, instruments and meters, chemical engineering, medical appliances and the like because the permanent magnet brushless direct current motor has a series of advantages of simple structure, reliability in operation, convenience in maintenance, high efficiency, no excitation loss, good speed regulation performance and the like.
At present, a permanent magnet brushless direct current motor generally adopts a control mode of combining a PID control structure with a vector control structure, but because the motor is influenced by various interference factors such as external electromagnetic interference, load change, friction and the like in the operation process, the traditional linear control such as PID control cannot effectively deal with the interference factors, and further the system stability is influenced. Therefore, some non-linear control algorithms need to be designed to improve the system performance, such as robust control, predictive control, finite time control, sliding mode control, adaptive control, and intelligent control. Among the above-mentioned methods, sliding mode variable structure control has received much attention because of its advantages of strong robustness and easy implementation. However, the discontinuous control action of the sliding mode control law can cause a buffeting phenomenon, so that the application of the sliding mode control in a practical system is limited.
In order to weaken the phenomenon of buffeting, another effective method is provided, namely a composite controller consisting of a sliding mode control feedback part based on an exponential approaching law and an interference estimation and compensation part based on an extended state observer is designed, so that the composite controller has the advantages of simple structure, strong anti-interference performance, good tracking capability and the like, and the control performance of a position servo system can be obviously improved.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. The permanent magnet brushless direct current motor position servo system and method based on the composite position controller can achieve good dynamic and steady-state performance and can effectively improve the tracking capability of the system. The technical scheme of the invention is as follows:
a permanent magnet brushless DC motor position servo system based on a composite position controller comprises: the system comprises a composite position controller module, a PI control module, a driving circuit module, a current sampling module, a permanent magnet brushless direct current motor and a position detection and calculation module, wherein the composite position controller module is connected with the PI control module, the PI control module is connected with the driving circuit module, the current sampling module is arranged at two ends of the PI control module and the driving circuit module in parallel, the driving circuit module is also connected with the permanent magnet brushless direct current motor, the permanent magnet brushless direct current motor is connected with one end of the position detection and calculation module, and the other end of the position detection and calculation module is connected with the composite position controller module;
the composite position controller module is formed by compounding sliding mode feedback control based on an exponential approximation law and feedforward control based on an extended state observer, and the position detection and calculation module is used for detecting a position sensor signal theta arranged on the permanent magnet brushless direct current motor; the current sampling module obtains an actual current i required by the PI control module; the input end of the compound position controller module is a position reference value thetarAnd the difference value of the position sensor signal theta obtained by the position detection and calculation module is obtained by the composite position controller module to obtain the reference current i at the input end of the PI control moduler(ii) a The obtained reference current irThe difference value of the current I and the obtained actual current I is input into a PI control module, and then the input voltage u of the driving circuit module is obtained; and the voltage u drives the permanent magnet brushless direct current motor to operate under the control of the driving circuit.
Further, the composite position controller is formed by combining sliding mode feedback control based on exponential approaching law and feedforward control based on an extended state observer, and the design steps of the composite position controller are as follows:
defining the position error e as:
e＝θr-θ
wherein theta isrIs a reference position;
deriving e yields:
Figure BDA0002814883890000021
the slip form surface is designed as follows:
Figure BDA0002814883890000022
s represents the sign of the sliding mode surface, and c is a coefficient greater than 0;
derivation of s gives:
Figure BDA0002814883890000031
the composite position controller is designed as follows:
Figure BDA0002814883890000032
wherein a ═ ktJ; c > 0, k > 0, q > 0, sgn (—) is a standard sign function;
Figure BDA0002814883890000033
is a reference position thetarThe second derivative of (a); i.e. irIs the output of the compound position controller; m represents the total disturbance of the system, and a is kt/J，
Figure BDA0002814883890000034
Is the torque coefficient, J is the moment of inertia, z3Is an estimate of the lumped disturbance m;
let ed(t)＝m-z3For disturbance error estimation, assume ed(t) is bounded and there is a constant ked>0, such that: | ed(t)|≤ked，
Substituting a composite position controller expression into
Figure BDA0002814883890000035
The following can be obtained:
Figure BDA0002814883890000036
taking the Lyapunov function as:
Figure BDA0002814883890000037
then
Figure BDA0002814883890000038
It can be seen from this that when the gain satisfies k > kedWhen the temperature of the water is higher than the set temperature,
Figure BDA0002814883890000039
the position error of the system can be quickly converged to the sliding mode surface
Figure BDA00028148838900000310
Then asymptotically approaches zero along the slip-form plane s-0.
Further, the expression of the extended state observer is as follows:
Figure BDA00028148838900000311
Figure BDA00028148838900000312
Figure BDA00028148838900000313
wherein p is1＞0,p2＞0,p 30 is a parameter of the observer, z1For the estimation of the position θ, z2Is an estimate of the velocity w, z3Is an estimate of the lumped perturbation m.
Figure BDA0002814883890000041
Denotes z3A derivative of (a);
further, the mathematical model of the permanent magnet brushless dc motor is:
Figure BDA0002814883890000042
wherein theta, w, i and u are respectively a position signal, a rotating speed signal, a motor stator current and a motor stator voltage; j is moment of inertia; b is a viscous friction coefficient; l is a stator inductance; r is a stator resistor;
Figure BDA0002814883890000043
is a torque coefficient; n ispIs the number of magnetic pole pairs; psifIs a rotor flux linkage; t isLIs the load torque; ke＝npψfAlso a torque coefficient.
In general, to facilitate the design of a hybrid position controller for a permanent magnet brushless dc motor, it can be expressed in the form of:
Figure BDA0002814883890000044
wherein a ═ kt/J，
Figure BDA0002814883890000045
b＝1/L，
Figure BDA0002814883890000046
Further, the control of the system comprises the steps of:
1) the position detection and calculation module obtains a motor rotor position theta;
2) detecting the bus current to obtain an actual current i required by the PI control module;
3) the input end of the compound position controller module is a position reference value thetarThe difference value between the actual position theta obtained by the position detection and calculation module is processed by the composite position controller module to obtain the reference current i at the input end of the PI control moduler；
4) Reference current i obtained in step 3)rObtaining the input voltage u of the driving circuit module after the difference value of the actual current i obtained in the step 2) passes through the PI control module;
5) and the voltage u drives the permanent magnet brushless direct current motor to operate under the control of the driving circuit.
The invention has the following advantages and beneficial effects:
1. an extended state observer is added into the composite position controller, so that disturbance can be well estimated to perform feedforward compensation, and the buffeting phenomenon is reduced.
2. Based on exponential approximation law
Figure BDA0002814883890000051
The sliding mode control is adopted, and the exponential term-qs can ensure that the system state can approach to a sliding mode at a higher speed when s is larger, so that the exponential approach law is particularly suitable for solving the response problem with large step. In the index approach, the approach speed is gradually reduced from a larger value to zero, so that the approach time is shortened, and the speed of the motion point reaching the switching surface is small. Adding an isokinetic approach term
Figure BDA0002814883890000052
Making the approach velocity k instead of zero as s approaches zero ensures a finite time to arrive. In the exponential approximation law, in order to attenuate buffeting while ensuring a fast approach, k should be decreased while increasing q.
3. Compared with the traditional method, the sliding mode control method based on the exponential approximation law is adopted, and proper approximation law parameters are selected, so that steady-state errors can be eliminated, overshoot of the system is reduced, the time of a transition process is shortened, the dynamic quality of the system is improved, and the problem of high-frequency jitter in sliding mode control can be effectively solved.
Drawings
FIG. 1 is a schematic diagram of a control system according to a preferred embodiment of the present invention;
FIG. 2 is a detailed functional block diagram of the control system of the present invention;
FIG. 3 is a functional block diagram of the compound position controller of the present invention;
FIG. 4 is a system position curve in the PI control mode;
FIG. 5 is a plot of system position in the recommended control mode;
FIG. 6 is a system current curve in the PI control mode;
FIG. 7 is a system current curve for a recommended control mode;
FIG. 8 is a system voltage curve for two control modes;
FIG. 9 is an output curve of an observer in a preferred control mode of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
the mathematical model of the permanent magnet brushless direct current motor is as follows:
Figure BDA0002814883890000061
wherein theta, w, i and u are respectively a position signal, a rotating speed signal, a motor stator current and a motor stator voltage; j is moment of inertia; b is a viscous friction coefficient; l is a stator inductance; r is a stator resistor;
Figure BDA0002814883890000062
is a torque coefficient; n ispIs the number of magnetic pole pairs; psifIs a rotor flux linkage; t isLIs the load torque; ke＝npψfAlso a torque coefficient.
In general, to facilitate the design of a hybrid position controller for a permanent magnet brushless dc motor, it can be expressed in the form of:
Figure BDA0002814883890000063
wherein a ═ kt/J，
Figure BDA0002814883890000064
b＝1/L，
Figure BDA0002814883890000065
A control method of a permanent magnet brushless direct current motor position servo system based on an extended state observer and sliding mode control comprises a composite position controller module, a PI control module, a driving circuit module, a current sampling module, a permanent magnet brushless direct current motor and a position detection and calculation module. The composite position controller module is connected with the PI control module, the PI control module is connected with the driving circuit module, the current sampling module is arranged at two ends of the PI control module and the driving circuit module in parallel, the driving circuit module is also connected with the permanent magnet brushless direct current motor, the permanent magnet brushless direct current motor is connected with one end of the position detection and calculation module, and the other end of the position detection and calculation module is connected with the composite position controller module;
the composite position controller module is formed by compounding sliding mode feedback control based on an exponential approximation law and feedforward control based on an extended state observer, and the position detection and calculation module is used for detecting a position sensor signal theta arranged on the permanent magnet brushless direct current motor; the current sampling module obtains an actual current i required by the PI control module; the input end of the compound position controller module is a position reference value thetarAnd the difference value of the position sensor signal theta and the obtained position sensor signal theta is processed by the composite position controller module to obtain the reference current i at the input end of the PI control moduler(ii) a The obtained reference current irThe difference value of the current I and the obtained actual current I is input into a PI control module, and then the input voltage u of the driving circuit module is obtained; and the voltage u drives the permanent magnet brushless direct current motor to operate under the control of the driving circuit.
Fig. 1 is a schematic diagram of the control system of the present invention, and fig. 2 is a detailed schematic block diagram of the control system of the present invention, from which, as will be readily appreciated,
the present embodiment includes the following steps:
1) the position detection and calculation module obtains a motor rotor position theta;
2) detecting the bus current to obtain an actual current i required by the PI control module;
3) the input end of the compound position controller module is a position reference value thetarThe difference value between the actual position theta obtained by the position detection and calculation module is processed by the composite position controller module to obtain the reference current i at the input end of the PI control moduler；
4) Reference current i obtained in step 3)rObtaining the input voltage u of the driving circuit module after the difference value of the actual current i obtained in the step 2) passes through the PI control module;
5) and the voltage u drives the permanent magnet brushless direct current motor to operate under the control of the driving circuit.
As can be seen from the attached figure 3, the composite position controller is compounded by the sliding mode feedback control based on the exponential approximation law and the feedforward control based on the extended state observer; the expression for the position compound position controller is:
Figure BDA0002814883890000071
wherein a ═ ktJ; c > 0, k > 0, q > 0, sgn (—) is a standard sign function;
Figure BDA0002814883890000072
is a reference position thetarThe second derivative of (a); i.e. irIs the output of the compound position controller; z is a radical of3Is an estimate of the lumped perturbation m.
In the present invention, the expression of the extended state observer is:
Figure BDA0002814883890000073
Figure BDA0002814883890000074
Figure BDA0002814883890000075
wherein p is1＞0,p2＞0,p 30 is a parameter of the observer, z1For the estimation of the position θ, z2Is an estimate of the velocity w, z3Is an estimate of the lumped perturbation m.
As shown in fig. 4 and 5, comparing the method for controlling a position servo system of a permanent magnet brushless dc motor based on an extended state observer and sliding mode control with a conventional control method (PI control), it can be seen that the method for controlling a position servo system of a permanent magnet brushless dc motor according to the present invention can track an input signal more accurately after the position servo system of the permanent magnet brushless dc motor is started, and the adjustment time is short; when a constant load is applied when t is 5s, the system quickly returns to a steady-state value in the case of load disturbance, and the regulation time is extremely short.
As shown in fig. 6, it is a curve of the actual current and the reference current of the system under the PI control mode.
Fig. 7 shows a curve of the actual current and the reference current of the system in the preferred embodiment of the present invention.
As shown in fig. 8, the system voltage curves are shown in two control modes.
Fig. 9 shows the output curve of the observer in the control mode recommended by the present invention. Curves shown in FIG. 9(a) are θ and its estimated z, respectively1The observer can accurately observe the change of the position loop of the permanent magnet brushless direct current motor position servo system in real time, and the system is subjected to the observation when t is 5sTo the case of external load disturbances. The observed value z is shown as a curve in FIG. 9(b)3，z3The subsystem (position loop) is subject to interference.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.

Claims (5)

1. A permanent magnet brushless DC motor position servo system based on a composite position controller is characterized by comprising: the system comprises a composite position controller module, a PI control module, a driving circuit module, a current sampling module, a permanent magnet brushless direct current motor and a position detection and calculation module, wherein the composite position controller module is connected with the PI control module, the PI control module is connected with the driving circuit module, the current sampling module is arranged at two ends of the PI control module and the driving circuit module in parallel, the driving circuit module is also connected with the permanent magnet brushless direct current motor, the permanent magnet brushless direct current motor is connected with one end of the position detection and calculation module, and the other end of the position detection and calculation module is connected with the composite position controller module;
the composite position controller module is formed by compounding sliding mode feedback control based on an exponential approximation law and feedforward control based on an extended state observer, and the position detection and calculation module is used for detecting a position sensor signal theta arranged on the permanent magnet brushless direct current motor; the current sampling module obtains an actual current i required by the PI control module; the input end of the compound position controller module is a position reference value thetarAnd the difference value of the position sensor signal theta obtained by the position detection and calculation module is obtained by the composite position controller module to obtain the reference current i at the input end of the PI control moduler(ii) a The obtained reference current irThe difference value of the current I and the obtained actual current I is input into a PI control module, and then the input voltage u of the driving circuit module is obtained; the voltage u drives the permanent magnet brushless DC under the control of the driving circuitThe motor operates.
2. The position servo system of the permanent magnet brushless direct current motor based on the composite position controller according to claim 1, wherein the composite position controller is compounded by sliding mode feedback control based on exponential approximation law and feedforward control based on an extended state observer, and the composite position controller is designed by the following steps:
defining the position error e as:
e＝θr-θ
wherein theta isrIs a reference position;
deriving e yields:
Figure FDA0002814883880000011
the slip form surface is designed as follows:
Figure FDA0002814883880000012
s represents the sign of the sliding mode surface, and c is a coefficient greater than 0;
derivation of s gives:
Figure FDA0002814883880000021
the composite position controller is designed as follows:
Figure FDA0002814883880000022
wherein a ═ ktJ; c > 0, k > 0, q > 0, sgn (—) is a standard sign function;
Figure FDA0002814883880000023
is a reference position thetarThe second derivative of (a); i.e. irFor compound position controlThe output of the device; m represents the total disturbance of the system, and a is kt/J，
Figure FDA0002814883880000024
Is the torque coefficient, J is the moment of inertia, z3Is an estimate of the lumped disturbance m;
let ed(t)＝m-z3For disturbance error estimation, assume ed(t) is bounded and there is a constant ked>0, such that: | ed(t)|≤ked，
Substituting a composite position controller expression into
Figure FDA0002814883880000025
The following can be obtained:
Figure FDA0002814883880000026
taking the Lyapunov function as:
Figure FDA0002814883880000027
then
Figure FDA0002814883880000028
It can be seen from this that when the gain satisfies k > kedWhen the temperature of the water is higher than the set temperature,
Figure FDA0002814883880000029
the position error of the system can be quickly converged to the sliding mode surface
Figure FDA00028148838800000210
Then asymptotically approaches zero along the slip-form plane s-0.
3. The position servo system of a permanent magnet brushless direct current motor based on a compound position controller according to claim 2, wherein the expression of the extended state observer is as follows:
Figure FDA00028148838800000211
Figure FDA00028148838800000212
Figure FDA00028148838800000213
wherein p is1＞0,p2＞0,p30 is a parameter of the observer, z1For the estimation of the position θ, z2Is an estimate of the velocity w, z3Is an estimate of the lumped perturbation m.
Figure FDA0002814883880000031
Denotes z3The derivative of (c).
4. A composite position controller based permanent magnet brushless dc motor position servo system according to claim 1, 2 or 3, wherein the mathematical model of the permanent magnet brushless dc motor is:
Figure FDA0002814883880000032
wherein theta, w, i and u are respectively a position signal, a rotating speed signal, a motor stator current and a motor stator voltage; j is moment of inertia; b is a viscous friction coefficient; l is a stator inductance; r is a stator resistor;
Figure FDA0002814883880000033
is a torque coefficient; n ispIs the number of magnetic pole pairs; psifFor rotor flux linkage；TLIs the load torque; ke＝npψfAlso a torque coefficient.
In general, to facilitate the design of a hybrid position controller for a permanent magnet brushless dc motor, it can be expressed in the form of:
Figure FDA0002814883880000034
wherein a ═ kt/J，
Figure FDA0002814883880000035
b＝1/L，
Figure FDA0002814883880000036
5. System according to one of claims 1 to 4, characterized in that its control comprises the following steps:
1) the position detection and calculation module obtains a motor rotor position theta;
2) detecting the bus current to obtain an actual current i required by the PI control module;
3) the input end of the compound position controller module is a position reference value thetarThe difference value between the actual position theta obtained by the position detection and calculation module is processed by the composite position controller module to obtain the reference current i at the input end of the PI control moduler；
4) Reference current i obtained in step 3)rObtaining the input voltage u of the driving circuit module after the difference value of the actual current i obtained in the step 2) passes through the PI control module;
5) and the voltage u drives the permanent magnet brushless direct current motor to operate under the control of the driving circuit.
CN202011395474.2A 2020-12-03 2020-12-03 Permanent magnet brushless direct current motor position servo system based on composite position controller Pending CN112600474A (en)

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Citations (4)

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Publication number Priority date Publication date Assignee Title
CN104238572A (en) * 2014-07-23 2014-12-24 南京理工大学 Motor servo system jitter-free sliding mode position control method based on disturbance compensation
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