In order to make the permanent magnet synchronous motor (PMSM) servo system meet the working characteristics of time-varying inertia and time-varying load in certain driving occasions, an adaptive torque control method with anti-disturbance action is proposed. For time-varying inertia, the Landau discrete time recursive algorithm is used to estimate the inertia in real time, and then the current value of the inertia obtained by identification is used to adjust the parameters of the speed controller according to the rules, so that the servo system still has good dynamic and static performance when the inertia changes. For time-varying load, a simple dimensionality reduction load observer is used to identify the load torque, and the identified load torque value is used to adaptively compensate for the speed disturbance caused by the load change to improve the robustness of the system.
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