基于普通精度增量式编码器的永磁伺服电机低速检测与控制优化方法研究

Research on Detection and Control Optimized Approach for Permanent Magnet Servo Motors at Low Speed with Ordinary-Resolution Incremental Encoder

针对永磁同步伺服电机传统控制方法的缺点,提出了一种基于普通精度增量式编码器的低速检测与控制优化方法。在普通低速区,该方法通过扩展M/T法来提高速度检测精度;在超低速区,采用一种改进的T法进行闭环跟踪反馈以实现高精度的速度检测,同时,采用参考速度自适应的PI控制方法,从而获得较好的速度控制性能。最后,在DSP控制器和永磁无刷伺服电机上进行了实验,实验结果表明,所提的优化策略提高了系统低速时的动态性能,扩展了系统的调速范围。

Aiming at the shortcomings of traditional control method for permanent magnet servo motors,an optimal speed detecting and controlling approach at low speed range is presented with ordinary-resolution incremental encoder in this paper. An extended M / T method is adopted for improving the speed of detection precision at ordinary-low speed range,and an improved T-method with closed-loop tracking feedback is employed for realizing high-precision speed detection at ultra-low speed range and an adaptive Proportion-Integration controller of reference speed is applied for obtaining a better speed control performance. Finally, sufficient experiments are implemented by the proposed approach on DSP controller and permanent magnet brush-less servo motor. Experimental results demonstrate that the dynamic performance at low speed is greatly enhanced and the adjustable speed range is extremely expanded.