The invention discloses a permanent magnet synchronous motor sensorless control method for a motor propeller of an unmanned aerial vehicle. The method comprises the following steps: step 1, establishing a mathematical equation according to a basic structure and a working principle of a surface-mounted permanent magnet synchronous motor; 2, according to the working principle of the unmanned aerial vehicle in the take-off process, a mathematical model of propeller tension and load torque is established; step 3, obtaining a current predicted value and a voltage vector through a current model prediction control method according to the mathematical equation, and substituting the current predicted value and the voltage vector into a cost function to obtain a current minimum value; 4, inputting the current minimum value into the mathematical model to control the rotating speed of the motor; and step 5, establishing a control strategy of active disturbance rejection control to realize high-precision control of the SPMSM. According to the method, active disturbance rejection control and model prediction control are combined, double-loop control is achieved, and the method is simple, convenient to operate, simple, practical, safe and reliable.
本发明公开了无人机电机螺旋桨的永磁同步电机无位置传感器控制方法包括:步骤1、根据表贴式永磁同步电机基本结构和工作原理,建立数学方程;步骤2、根据无人机在起飞过程中的工作原理,建立螺旋桨拉力与负载转矩的数学模型;步骤3、根据数学方程通过电流模型预测控制方法得到电流的预测值和电压矢量,并将电流的预测值和电压矢量代入至代价函数得到电流最小值;步骤4、将电流最小值输入至数学模型中控制电机转速;步骤5、建立自抗扰控制的控制策略实现SPMSM的高精度控制。该方法将自抗扰控制和模型预测控制进行结合,实现双环控制,方法简单、操作方便、简洁实用且安全可靠。
Permanent magnet synchronous motor position sensorless control method of unmanned aerial vehicle motor propeller
无人机电机螺旋桨的永磁同步电机无位置传感器控制方法
13.08.2024
Patent
Elektronische Ressource
Chinesisch
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