基于滑膜观测的FOC无刷电机控制系统设计  

Design of FOC Brushless Motor Control System Based on Sliding Film Observer

作　　者：许为龙 徐宏宇 Xu Weilong;Xu Hongyu(School of Electronic Information Engineering,Shenyang University of Aeronautics and Astronautics,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学电子信息工程学院,沈阳110136

出　　处：《机电工程技术》2024年第1期159-162,211,共5页Mechanical & Electrical Engineering Technology

摘　　要：针对目前全驱动型机器人的高工作精度以及高稳定性需求,设计全驱动型机器人关节驱动控制系统。基于无刷电机数学模型,电机驱动方案采用矢量电机控制算法FOC,电机角速度位置采用有感、无感相结合获取,即在启动以及低速转动下采用位置传感器,在中高速转动下切换使用滑模观测器。观测器对电机反电动势观测值进行运算处理,获得电机位置和速度。在MATLAB/Simulink搭建控制模型,验证算法可行性。仿真结果表明:在负载情况下,中低转速下,控制精度低,低成本位置传感器足以满足控制需求;在中高转速下,位置获取方法切换为滑模观测器,此时无位置传感器控制,无需使用高精度位置传感器,根据电机运行的电流观测到的位置,足以满足中高转速需求。且观测器监测内部运行状态,无视外界影响,大大提高控制系统的响应性与稳定性。Design a joint drive control system for fully actuated robots to meet the high working accuracy and stability requirements of current fully actuated robots.Based on the mathematical model of a brushless motor.The motor drive scheme adopts the motor field-oriented control(FOC)algorithm,and the motor angular velocity position is obtained by combining induction and non induction.That is,position sensors are used during startup and low-speed rotation,and sliding mode observers are used for switching between medium and high-speed rotation.The observer processes the observed values of the motor's back electromotive force to obtain the motor position and speed.Build a control model in MATLAB/Simulink to verify the feasibility of the algorithm.The simulation results show that under load conditions,at medium and low speeds,the control accuracy is low,and low-cost position sensors are sufficient to meet the control requirements.At medium and high speeds,the position acquisition method is switched to a sliding mode observer.At this time,there is no position sensor control,and high-precision position sensors are not needed.The position observed based on the current of the motor operation is sufficient to meet the requirements of medium and high speeds.And the observer monitors the internal operating status,disregarding external influences,greatly improving the responsiveness and stability of the control system.

关 键 词：全驱动型机器人 无刷电机 电机控制算法 矢量控制(FOC) 滑模观测器 无位置传感器控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP27[自动化与计算机技术—控制科学与工程]