摘要
论文基于特殊应用场景对电动推杆式传动机构实现无位置传感器稳定控制,通过分析倒伏机构升降过程中倒伏负载端速度运行工况,对负载端速度进行理论分析,从而直接建立倒伏负载端速度与伺服电机端速度数学关系模型。基于无位置传感器控制算法,通过观测出的电机端位置信息、速度信息以及已知的机械安装关系及角度信息反推出倒伏负载端实时位置、速度信息。通过对电机进行精确位置、转速以及电流环控制,从而实现负载端位置精确控制及速度精确、稳定控制,该控制方法可以节省倒伏负载端位置传感器以及电机端位置传感器的使用,可以减小系统体积、降低系统重量、降低维护成本,提高系统环境适应性。仿真结果验证了该控制方法的正确性和有效性。
This paper presents a simulation study on sensorless control of an electric push rod lodging mechanism.Based on a special application scenario,the stable control of the electric push rod transmission mechanism is achieved without position sensors.By analyzing the operating conditions of the lodging load end speed during the lifting process of the lodging mechanism,the theoretical analysis of the load end speed is carried out,and a mathematical relationship model between the lodging load end speed and the motor end speed is directly established.Based on the sensorless control driving algorithm,real-time position and speed information of the lodging load end is inferred through the observed motor end position information,speed information,known mechanical installation relationship and angle information.By achieving precise position,speed,and current loop control of the motor,the load end position can be precisely controlled and the speed can be precisely and stably controlled.This control method can save the use of position sensors at the inverted load end and motor end,reduce system volume,reduce system weight,lower maintenance costs,and improve system environmental adaptability.The simulation results have verified the correctness and effectiveness of the control method.
作者
张甍
陈富
蔺斌锋
ZHANG Meng;CHEN Fu;LIN Binfeng(The 20th Research Institute of China Electronics Technology Corporation,Xi'an 710000;High-end Electronic Equipment Industrial Design Center of the 20th Research Institute of China Electronics Technology Corporation,Xi'an 710000)
出处
《舰船电子工程》
2025年第6期80-85,105,共7页
Ship Electronic Engineering
关键词
倒伏机构
伺服电机
电动推杆
无位置传感器
稳定控制
lodging mechanism
servo motor
electric push rod
position sensorless
stability control
