工业机器人转臂电机无权重系数预测转矩控制研究

Research on Predictive Torque Control of Industrial Robot Rotator Motor without Weighting Factor

为实现工业机器人转臂用永磁同步电机的预测转矩控制,并避免使用权重系数,提出了一种简单的顺序模型预测转矩控制方法。该方法从逆变器的8个电压矢量中选择2个使转矩误差最小的电压矢量,再从这2个电压矢量中选择一个使磁链误差最小的电压矢量作为最优矢量,并将该矢量作用于逆变器,从而实现永磁同步电机的无权重系数预测转矩控制。所提方法不仅避免了设计权重系数,而且提高了转矩和磁链的控制精度。仿真和实验结果均验证了该方法的有效性。

In order to realize the predictive torque control of permanent magnet synchronous motor(PMSM)for the industrial robot rotator and to avoid using the weighting factor,a simple sequential model predictive torque control method was proposed.By using the method,2 voltage vectors that minimized the torque control error were selected of the 8 voltage vectors of the inverter,then a voltage vector that minimized flux linkage control error was selected as the optimal one from the 2 voltage vectors.The vector was applied to the inverter to realize the predictive torque control without weighting factor of PMSM.By using the proposed method,not only the design of the weight coefficient is avoided,but also the control precision of torque and flux linkage is improved.The simulation and experimental results verify the effectiveness of the proposed method.