Model Correction Control Strategy for Direct Drive Permanent Magnet Synchronous Motor Servo System

摘要：

Although it has many advantages such as high mechanical rigidity, fast dynamic response and high efficiency, a direct drive permanent magnet synchronous servo motor is sensible to non-linearity, variety of parameter and external disturbance. This paper presents a model correction control strategy, which corrects the unmodeled dynamics of control system and suppresses disturbances by a unique control structure with a state observer based on a Kalman filter and a digital low-pass filter, Theoretical and experimental results indicate that this strategy can effectively eliminate high order dynamic, nonlinearity, measurement noise and variation of load torque in the control system, and improves a direct drive servo control system’s stability, robustness and resistance to disturbances.

关键词： direct drive model correction Kalman filter and state observer

作者: Liangsong Huang Daokui Qu Fang Xu

作者单位: Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China Graduate Scho Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China SIASUN Robot

会议类型: 国际会议

会议名称: The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

会议地点: 徐州

会议语种:英文

页码: 1467-1470

在线出版日期: 2010-05-26（万方平台首次上网日期，不代表论文的发表时间）