Research On Control Strategy Of Permanent Magnet Synchronous Motor Driven For Corn Harvesting Robot

Based on the corn and straw multi-component processing equipment designed by the team,this paper intends to integrate the corn and straw multi-component processing equipment on a mobile platform,and specifically matches a pure electric permanent magnet synchronous motor drive chassis for it,A corn harvesting robot specially designed for processing corn and straw multi-component is developed.The corn harvesting robot needs to drive on complex road conditions such as corn ridges.The merits and demerits of electric motor control immediately fix the steerage reliability of the corn harvesting machine.This essay thinks research target is embedding permanent magnet synchronize motor and combines the actual application environment and performance requirements of the maize crop and maize stalk harvest robot.The dynamic systems of the maize crop and maize stalk harvest robot is re-engineering,in the meantime,we utilize numerical analysis to approve this ideal rationality.Firstly,by analyzing the mechanical model of corn harvesting robot and combining the design data of corn and straw multi-component harvesting robot,the motor parameters of corn harvesting robot are completed by theoretical calculation.Connecting with coordinate transformations of operating principle subsequently,we can conclusively build dynamical mathematical modeling of permanent magnet synchronize motor based on rotary coordinate system.The permanent magnet synchronize motor’s three phase alternating current can be regarded as two constant current vectors,so as to obtain separated exciting direct-current dynamo liking speed characteristics based on the known power system rotor position,which provides a basis for majorizing permanent magnet synchronize motor performance.The then,according to the mathematical model,the technical principles of SVPWM inverter,speed regulation,current regulation and current decoupling in vector control system are analyzed.A motor vector control strategy combining maximum torque per ampere control and flux weakening control is proposed to meet the working requirements of corn harvesting robot.meet the complex working environment of the pit and mud when the corn harvester works,it is required that the driving motor has enough power below the routine speed,and the maximum torque per ampere control strategy is adopted for the driving motor below the base speed.During the non-working period,the driving speed is as fast as possible on the relatively good road surface,When the rate speed above the routine speed,we can apply the voltage feedback flux weakening control strategy to improve the motor speed.To analyze the MTPA control and weakening magnet field control.Secondly,in order to reduce the dependence of speed signal,improve control stability and reduce potential safety hazards,a sliding variable structure with a speed no-velocity sensor system,this improves power system rotor position of precision accuracy for sliding modes observer,and the sigmoid function is used to effectively reduce the speed estimation error.Finally,the rationality and feasibility of the motor vector control strategy of corn harvesting robot are verified by MATLAB / Simulink simulation.