基于磁编码器的伺服电机速度及其位置观测器设计.pdfVIP

第31 卷 第9 期 中 国 电 机 工 程 学 报 Vol.31 No.9 Mar.25, 2011 82 2011 年3 月25 日 Proceedings of the CSEE ©2011 Chin.Soc.for Elec.Eng. 文章编号：0258-8013 (2011) 09-0082-06 中图分类号：TM 383 文献标志码：A 学科分类号：470·40 基于磁编码器的伺服电机速度及位置观测器设计 吴忠，吕绪明 (北京航空航天大学仪器科学与光电工程学院，北京市 海淀区 100191) Design of Angular Velocity and Position Observer for Servo Motors With Magnetic Encoders WU Zhong, LÜ Xuming (School of Instrumentation Science and Optoelectronics Engineering, Beijing University of Aeronautics and Astronautics, Haidian District, Beijing 100191, China) ABSTRACT: Magnetic encoder was a kind of rotary sensors 法不需通过数值差分即可获得角速度信息，具有较强的干扰 based on magnetoresistance effects or Hall effects, and it could 抑制能力。与基于锁相环的角度跟踪法相比，该算法考虑了 output two orthogonal signals which were sine or cosine 电机的转速变化，角位置和角速度解算精度较高。实验结果 functions of the rotor angular position. In order to obtain the 表明，该解调算法是可行的。 rotor angular position and velocity information, a state- 关键词：伺服电机；磁编码器；状态观测器；位置检测 observer-based algorithm was presented to demodulate output signals of the magnetic encoder. Theoretical analysis showed 0 引言 that both the second-order state observer and the third-order 准确、可靠的转子位置及速度检测是实现伺服 one could make the demodulation error converge to zero 电机高性能控制的必要条件。为获取转子位置及速 asymptotically when the motor rotated under constant speed. 度信息，通常在电机转轴上安装光电码盘、旋转变 Once the motor speed varied uniformly, the d