Modeling and Control Strategy of Electric Drive System with Flexible Load

doi:10.12068/j.issn.1005-3026.2024.03.006

Abstract

Abstract:

In order to suppress the speed fluctuations and vibrations generated during the startup and operation of servo motors， a PI control strategy based on pole configuration was proposed. Firstly， an overall dynamic model of servo motors and flexible load was established based on Kirchhoff’s voltage law and Lagrangian principle， and the transfer function of the system was calculated through Laplace transform. Secondly， by designing the parameters of the controller， the impact of using pole configuration methods with the same amplitude on the control effect was analyzed. Finally， the advantages of this pole configuration method were verified by comparing the traditional Z‐N methods and uncontrolled methods. Through numerical simulation and experimental research， the control of angle errors generated during the startup and operation of servo motors is achieved， effectively suppressing the fluctuations of motor speed and ensuring the stability of the system.

Key words: servo motor, flexible load, pole configuration, PI controller, speed loop

CLC Number:

TH 113.1

Xiao-peng LI, Hao-zhe WANG, Meng YIN, Sai-nan ZHOU. Modeling and Control Strategy of Electric Drive System with Flexible Load[J]. Journal of Northeastern University(Natural Science), 2024, 45(3): 346-353.

Figures/Tables 11

Fig.1 Schematic diagram of flexible load rotation considering servo motor output

Fig.2 Flow chart of flexible load speed loop driven by servo motors

Fig.3 Flow chart of rigid load speed loop driven by servo motors

Fig.4 Bode diagram of rigid and flexible loads driven by servo motor

Fig.5 Schematic diagram of pole configuration based on the same amplitude

Fig.6 Cloud chart of overall evaluation index

Table 1 Parameter table of the overall system of motor flexible loads

系统	参数	数值
柔性负载端	抗弯刚度EI/（N·m²）	395
	柔性负载质量m/kg	1.404
	长度l/m	1.8
	体密度ρ/（kg·m^-3）	7 800
	负载转动惯量I/（kg·m^-2）	0.898 6
	一阶模态柔性耦合系数 $K a 1$ /（kg^1/2·m）	0.958 3
	一阶模态频率 $ω 1$ /Hz	40.147 2
电机端	定子电阻r/Ω	4.0
	直轴电感L_d /H	0.002 5
	交轴电感L_q /H	0.002 5
	转子磁通量φ_f/Wb	0.341
	极对数p	4

Table 1 Parameter table of the overall system of motor flexible loads

系统	参数	数值
柔性负载端	抗弯刚度EI/（N·m²）	395
	柔性负载质量m/kg	1.404
	长度l/m	1.8
	体密度ρ/（kg·m^-3）	7 800
	负载转动惯量I/（kg·m^-2）	0.898 6
	一阶模态柔性耦合系数 $K a 1$ /（kg^1/2·m）	0.958 3
	一阶模态频率 $ω 1$ /Hz	40.147 2
电机端	定子电阻r/Ω	4.0
	直轴电感L_d /H	0.002 5
	交轴电感L_q /H	0.002 5
	转子磁通量φ_f/Wb	0.341
	极对数p	4

Fig.7 Influence of pole damping coefficient on electromagnetic output speed

Fig.8 Comparison chart of parameter tuning of different methods

Fig.9 Servo motor driven flexible load control experimental platform[19]

Fig.10 Experimental results of flexible load control

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