RESEARCH ON INDUSTRIAL ROBOT SERVO MOTOR CONTROLLING SPEED SENSORLESS ALGORITHM
Journal Title: World Journal of Engineering Research and Technology - Year 2018, Vol 4, Issue 5
Abstract
Permanent magnet synchronous motor is the most commonly applied motor for industrial robots. In this paper, the structure and working principle of permanent magnet synchronous motor are analyzed, and the mathematical model of permanent magnet synchronous motor in different coordinate system is introduced based on coordinate transformation. On this basis, the working principle of space voltage loss control algorithm for three-phase voltage source inverter is introduced, and the model of permanent magnet synchronous motor vector control system is set up. To realize the speed sensorless control of permanent magnet synchronous motor, the model reference adaptive algorithm is used to estimate the rotor speed and position, and the adaptive law is designed according to the theory of wave's super stability. Since the slow convergence rate of the traditional model referencing adaptive algorithm, the synovial state observer as an adjustable model is designed in this paper, and the corrective feedback closed-loop link is added in the state equation, which greatly improved the speed of the speed identification and realized the effective estimation of the position and speed of the motor. Finally, the hardware in loop simulation of the motor vector control is established by using MATLAB/Simulink. The simulation results show that the sliding mode variable structure MRAS speed observer proposed in this paper has good dynamic performance.
Authors and Affiliations
Dr. Xinhua Yan
Keywords
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- EP ID EP662817
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