考虑电压电流限制的伺服电机无纹波转矩控制  

Ripple-Free Torque Control of Servo Motor Considering Voltage and Current Limitation

作　　者：董青青[1] 李婷[2] 彭朋[3] DONG Qingqing;LI Ting;PENG Peng(College of Coal and Chemical Industry,Shanxi Energy Institute,Xianyang 712000,China;School of Automation,Northwestern Polytechnical University,Xi′an 710072,China;不详)

机构地区：[1]陕西能源职业技术学院煤炭与化工产业学院,咸阳712000 [2]西北工业大学自动化学院,西安710072 [3]陕西科技大学电气与控制工程学院,西安710021

出　　处：《组合机床与自动化加工技术》2024年第7期113-118,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：陕西省自然科学基础研究计划青年项目(2022JQ-601)。

摘　　要：针对伺服系统无刷电机正弦电流转矩控制纹波较大的问题,提出了一种无刷伺服电机在任意反电动势波形下的无纹波转矩控制,实现了电机驱动器在有限电压、电流范围内的功率损耗最小。首先,建立了有限电压、电流范围内的电机模型,推导了电压、电流范围边界的不等约束条件;其次,利用拉格朗日乘数法求解等效二次规划问题,提出了最优转矩控制策略;最后,在三相18极同步电机的实验平台上进行了3种情况的实验验证。结果表明,所提控制策略在相电压、电流饱和时,仍能实现转矩的精确控制,输出期望转矩;在发生单相故障时,可以隔离故障相,同时通过优化励磁电流使非故障相达到预期的转矩输出,减小了转矩纹波。Aiming at the problem of large ripple of brushless motor sinusoidal current torque control in servo system,this paper presents a ripple-free torque control of brushless servo motor under arbitrary back electromotive force waveform,which realizes the minimum power loss of motor driver in limited voltage and current range.Firstly,the motor model within the limited voltage and current range is established,and the unequal constraint conditions of the voltage and current range boundary are derived.Secondly,the Lagrange multiplier method is used to solve the equivalent quadratic programming problem,and the optimal torque control strategy is proposed.Finally,three kinds of experimental verification are carried out on the experimental platform of three-phase 18-pole synchronous motor.The results show that the proposed finite torque optimization controller can still achieve accurate torque control and output expected torque when the phase voltage and current are saturated.When a single-phase fault occurs,the fault phase can be isolated,and the non-fault phase can achieve the expected torque output by optimizing the excitation current,which reduces the torque ripple.

关 键 词：伺服系统 无刷电机 纹波 最优转矩控制 故障隔离 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]