关键词: 直驱永磁电机, 实时控制, 曲线S加速, 快速响应

Abstract: A real time rapid acceleration control algorithm of S-curve was proposed according to the characteristics of direct drive permanent-magnet motor. The torque constraint condition of motor control without loss of synchronism and the characteristics of S and linear acceleration curve were analyzed. The corresponding relationship of acceleration between S and linear acceleration curve and the torque equation of S acceleration curve were derived. A calculation method of S-curve acceleration parameter was proposed which was based on the rated torque. Based on the residual torque curve under rated condition, the acceleration parameter calculation method of S curve under the condition of minimum acceleration angle was derived. For real-time calculation of the parameters of time cost, angular velocity, acceleration and jerk, a parameter estimating method of S-curve meeting the setting speed and angle requirements was proposed, which was based on the corresponding relationship between S and linear acceleration curve. The test routine was compiled by using the method. ExperimentaldatashowthatthismethodcanrealizethefastsolutionofS-curveaccelerationparametersandissuitableforthereal-time response characteristics of direct drive motor.

Key words: direct drive permanent-magnet motor, real time control, S acceleration curve, fast response