The invention discloses an unmanned vehicle anti-load disturbance control method based on a load torque observer, and the method comprises the following steps: S1, the load torque observer: considering the time-varying characteristics of the load torque, designing a novel load torque observer based on UKF filtering by employing the principles of UKF filtering and a maximum posteriori estimator Sage-Husa, and obtaining the load torque observer based on the UKF filtering; the observed value of the load torque is used as feed-forward compensation; s2, speed compensation: taking a load torque observation value as feed-forward compensation of a control system, and compensating the influence of load disturbance on the system by improving the output capability of the motor load torque; and S3, simulation test: based on the analysis and design, verifying the effectiveness of the PMSM anti-load disturbance control strategy based on the load torque observer. According to the anti-load disturbance control method based on the load torque observer for the unmanned vehicle, the stability and the anti-interference performance of the unmanned vehicle when the load torque is changed are improved, and the problems that the unmanned vehicle shakes and the rotating speed of the motor is not coordinated are solved.
本发明公开了一种无人车用基于负载转矩观测器的抗负载扰动控制方法,控制方法包括如下:S1,负载转矩观测器:考虑负载转矩时变的特性,利用UKF滤波和极大后验估计器Sage‑Husa的原理,设计基于UKF滤波的新型负载转矩观测器,并将负载转矩的观测值作为前馈补偿;S2,速度补偿:将负载转矩观测值作为控制系统的前馈补偿,通过改善电机负载转矩的输出能力来补偿负载扰动对系统造成的影响;S3,仿真试验:基于以上的分析和设计,为了验证所提基于负载转矩观测器的PMSM抗负载扰动控制策略的有效性。该无人车用基于负载转矩观测器的抗负载扰动控制方法,提高无人搬运车在负载转矩改变时的稳定性和抗干扰性,解决了无人搬运车抖动和电机转速不协调等问题。
Anti-load disturbance control method based on load torque observer for unmanned vehicle
一种无人车用基于负载转矩观测器的抗负载扰动控制方法
2022-07-29
Patent
Elektronische Ressource
Chinesisch
IPC: | H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Disturbance observer based dynamic load torque compensator for assistive exoskeletons
BASE | 2018
|Automatic guided vehicle for torque distribution through load torque observer
Europäisches Patentamt | 2022
|Europäisches Patentamt | 2022
|Europäisches Patentamt | 2021
|