Low Speed Interpolation Control Strategy of Permanent Magnet Synchronous Motor Based on Accumulative Error Compensation

doi:10.11985/2023.03.016

Abstract

Abstract:

The observer based interpolation control for incremental encoder pulse signal is a common low speed control scheme. However, it will produce an accumulative error within each position pulse, which will affect the accuracy and stability of vector control system. In order to mitigate the negative effect caused by error accumulation, an interpolation control algorithm based on accumulative error compensation is proposed. In the proposed method, the accumulative interpolation error of the last position pulse is used as the compensation term added into the interpolation process of current position pulse for the cancellation of accumulative error in each sampling period. Thus, the phenomenon of accumulative error being monotonic increasing is suppressed afterwards. Finally, the performance of the proposed method is tested on a 750 W permanent magnet synchronous servo motor, and the results show that it has higher control accuracy and better anti-interference to external disturbances than the traditional observer-based interpolation control strategy.

Key words: Permanent magnet synchronous motor, error compensation, sliding mode observer, phase-locked loop, position interpolation

CLC Number:

TM351

ZHANG Bingxin, LIU Kan, LI Yue, HU Wei, HUANG Qing, CHEN Yongdan. Low Speed Interpolation Control Strategy of Permanent Magnet Synchronous Motor Based on Accumulative Error Compensation[J]. Journal of Electrical Engineering, 2023, 18(3): 145-153.

Figures/Tables 12

References 22

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参数	数值
d轴电感L_d/mH	7.1
q轴电感L_q/mH	10.7
永磁体磁链ψ_f/mWb	55.6
定子电阻R/Ω	0.96
极对数P_n	5
直流母线电压V_dc/V	60

参考转速/ (r/min)	误差带/rad		性能改进(%)
参考转速/ (r/min)	OI算法	AECPIC算法	性能改进(%)
10	±0.04	±0.02	50
30	±0.04	±0.02	50
50	±0.04	±0.02	33

参考转速/ (r/min)	误差带/rad		性能改进(%)
参考转速/ (r/min)	OI算法	AECPIC算法	性能改进(%)
10	±0.040	±0.022	45
30	±0.050	±0.025	50
50	±0.10	±0.04	60

参考转速/ (r/min)	比较项	OI算法	AECPIC算法	性能改进(%)
10	误差带	±0.040 rad	±0.022 rad	45
10	最大误差	0.14 rad	0.059 rad	58
30	误差带	±0.050 rad	±0.03 rad	40
30	最大误差	0.19 rad	0.053 rad	72
50	误差带	±0.10 rad	±0.05 rad	50
50	最大误差	0.10 rad	0.065 rad	35