直驱力矩电机变负载控制方法研究

Research on Variable Load Control Method of Direct Drive Torque Motor

直驱力矩电机在运动过程中受到齿槽转矩、力矩脉动等固有特性的影响会产生位置误差,在受到变负载影响时,精度会进一步下降。为减小位置误差,采用分数阶滑模控制方法,建立分数阶滑模-直驱力矩电机和PID-直驱力矩电机模型;采集凸轮加工中的力矩,作为变负载数据输入模型进行仿真。结果表明:相比于PID控制方法,分数阶滑模控制方法位置精度提高约25%,快速性提高约35.48%;分数阶滑模控制方法可以提高直驱力矩电机的控制精度。

The direct drive torque motor is affected by the cogging torque,torque ripple and other inherent characteristics in the movement process,which would produce position error,and the accuracy would further decline due to the influence of variable load.In order to reduce the position error,fractional order sliding mode control method was used,the models of fractional order sliding mode direct drive torque motor and PID direct drive torque motor were established;the torque of cam machining was collected as variable load data inputting model for simulation.The simulation results show that compared with the PID control method,the position accuracy of the fractional order sliding mode control method is improved by about 25%and the speed is improved by about 35.48%;by using the fractional order sliding mode control method,the control accuracy of direct drive torque motor can be improved.