摘要
针对AGV系统负载转矩扰动,根据永磁同步电机机械运动方程和矢量控制理论,建立了负载转矩的动态数学模型,并根据速度补偿原理推导出全补偿条件。在全数字交流调速系统基础上建立了基于ADSP-2188全数字负载转矩观测和补偿环节。实验结果表明,此系统可有效地对扰动进行监测和补偿,极大地提高了电机的动态性能。
Load torque dynamic model was established on the basic of mechanical equation and vector con- trol theory of permanent magnet synchronous motor in order to solve load torque disturbing in AGV systerm. Full-digital load torque observer and compensation control system based on ADSP-2188 was made based on digital AC speed regulation system. Experiment results prove load torque observer and compensation control system can detect and compensate torque disturbing effectively, which improve dynamic performance of motor greatly.
出处
《微电机》
北大核心
2013年第3期68-71,共4页
Micromotors
关键词
自动导引车
永磁同步电机
负载转矩观测器
适量控制
automated guided vehicle
permanent magnet synchronous motor
load torque observer
vector control
