Demagnetization Analysis and Velocity Tracking Control of In-wheel Motor  

作　　者：Haihong Li Junjie Chen Zhiqi Liu 

机构地区：[1]School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China

出　　处：《Journal of Harbin Institute of Technology(New Series)》2024年第2期1-11,共11页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National Natural Science Foundation of China(Grant No.51975396);the Natural Science Foundation of Shanxi Province(Grant No.202103021224264).

摘　　要：The error caused by irreversible demagnetization damages the accurate velocity tracking of an in-wheel motor in a mobile robot.A current feedforward vector control system based on ESO is proposed to compensate it for the demagnetization motor.A demagnetization mathematical model is established to describe a permanent magnet synchronous motor,which took the change of permanent magnet flux linkage parameters as a factor to count the demagnetization error in velocity tracking.The uncertain disturbance estimation model of the control system is built based on ESO,which eliminates the system error by the feedforward current compensation.It is compared with the vector control method in terms of control accuracy.The simulation results show that the current feedforward vector control method based on ESO reduces the velocity tracking error greatly in conditions of motor demagnetization less than 30%.It is effective to improve the operation accuracy of the mobile robot.

关 键 词：mobile robot velocity tracking disturbance estimation vector control 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]