摘要
为改善激光跟踪仪工作在轻载环境下其伺服驱动的死区效应,此处分析了死区效应的产生机理,研究了由控制死区引起的电压损失并设计了相应的在线死区补偿算法。通过对由死区效应产生的三相电压扰动量进行坐标变换,转换到二维旋转坐标系下,使扰动电压矢量不再与三相电流极性有关,同时通过在线修改死区时间,使得扰动电压矢量和旋转坐标系下的转矩电流和磁链电流成比例变化,从而使得扰动电压矢量不再是几个离散矢量,而是随着电流矢量连续同步旋转。该方法避免了检测相电流的极性,在线实时补偿死区效应的影响,实验显示相电流波形畸变得到明显改善,其波形基本为规整的正弦波,补偿后电流环闭环控制精度在其他控制参数相同的条件下达到0.75%。提高了电机的控制性能,从而保障了激光跟踪仪的测量精度及跟踪性能。
To improve the servo drive dead zone effect of the laser tracker operating under light load conditions,the mechanism of dead zone effect is analyzed here.The voltage loss causes by the control of the dead zone is studied and a corresponding online dead zone compensation algorithm is designed.Through coordinate transformation for the threephase voltage disturbance generate by the dead time effect,transform to a two-dimensional rotating coordinate system, which makes the disturbance voltage vector is no longer relate to the current polarity,at the same time through online modifying the dead time,the disturbance voltage vector is proportional to the change of torque current and flux current in the rotating coordinates,which makes the disturbance voltage vector is no longer a few discrete vector,but rotate with current vector synchronously.This method avoids detecting the direction of phase current,compensates the influence of dead time effect online.The experimental results show that the phase current waveform distortion has been greatly improved,and its waveform is basically a regular sine wave.After compensation,the closed-loop control precision of the current loop is 0.75% under the same conditions as other control parameters.It improves the control performance of the motor thus improves the measurement accuracy and tracking performance of laser tracker.
作者
张明玉
董登峰
程智
周维虎
ZHANG Ming-yu;DONG Deng-feng;CHENG Zhi;ZHOU Wei-hu
出处
《电力电子技术》
CSCD
北大核心
2018年第12期1-4,共4页
Power Electronics
基金
国家自然科学基金(61675211,61575209).
作者简介
张明玉(1991-),女,湖北恩施人,硕士研究生,研究方向为精密跟踪控制。
