永磁同步电机交流伺服系统负载转矩动态补偿方法

A Novel Method of PMSM AC Servo System’s Load Torque Motion Compensation

交流伺服电机负载转矩的变化对系统性能的影响非常明显,需要进行在线动态补偿,但负载转矩与转动惯量一样,是一个很难直接测量的非电物理量,需进行在线辨识。文章构建了一个负载转矩辨识观测器,将观测到的值动态补偿到速度环中,有效提高了速度环抗干扰性能,增强了系统的鲁棒性。

The influence to system performance from the variation of load torque of AC servo motor is considerable, so, online motion compensation is needed. As same as the moment of inertia, the load torque is a non-electric physical quantity and can not be measuring directly, so, the online identification is needed. Building a load torque idntification observer, dynamically compensating the observed value into the speed ring, the anti-jamming performance of speed ring was upgraded to boost up system robustness.