基于永磁同步电机驱动的螺钉旋拧过程控制研究

针对电动旋拧螺钉工具在旋拧螺钉过程出现的空转、卡滞以及速度波动问题,设计开发一套控制系统,对工具的运动过程进行控制。在旋拧启动阶段,采用矢量控制和谐波电流抑制相结合的方法,在矢量控制的基础上增加谐波电流环以减小PMSM的速度波动;在旋拧密接阶段,使用基于卡尔曼滤波的负载转矩观测器,完成对负载的观测及补偿以提高密接阶段的平稳性。通过实验证明,该控制系统可以带动工具完成旋拧螺钉的功能,与常规控制方法相比,在启动阶段电机速度波动幅度降低了50%,在密接阶段电机速度波动幅度降低了30%,机构振动幅度大为减小。

Study on the Process Control of Twisting Screws Based on PMSM Drive

Aiming at the problem of idling, binding and the fluctuation of speed in the process of twisting screws for electric tools used to twist screws, a control system was designed and developed to plan the motion process of the tool. In the initial stage, vector control and harmonic current suppression were combined. On the basis of vector control, the harmonic current loop was added to reduce the velocity fluctuation of PMSM which is the power device in the tool. The load torque observer based on kalman filter was used in the bonding stage to complete the observation and compensation of the load, which greatly improves the stability of the bonding stage. The experimental results show that the control system can drive the tool to complete the function of twisting screws. Compared with the conventional control method, the motor speed fluctuation amplitude was reduced by 50% in the starting stage, 30% in the sealing stage, and the mechanism vibration amplitude was greatly reduced.