机电工程技术2025，Vol.54Issue(18)：29-34,6.DOI:10.3969/j.issn.1009-9492.2024.00177
基于扩展卡尔曼滤波FOC矢量关节模组双环控制算法研究
Research on Double-loop Control Algorithm of FOC Vector Joint Module Based on Kalman Filter
摘要
Abstract
In order to solve the problems of mismatched inertia,low efficiency,poor fast tracking performance,inadequate steady-state accuracy,weak anti-interference robustness in the joint system caused by the existing control algorithm of the GD32FFPRTGU6 chip in the self-developed joint module,a FOC vector double-loop control algorithm based on extended Kalman filter is proposed.The algorithm adds Kalman filter algorithm to the traditional FOC vector control,and through the filtering effect of Kalman filter,it reduces external noise interference and self-interference,makes the output phase current more stable,can greatly improve the steady-state accuracy and anti-interference of the system,and can ensure the robustness and stability in the interference environment.First,the feasibility of the theoretical algorithm is verified by means of Simulink simulation.Subsequently,the algorithm is applied to the joint module control unit of the GD32FFPRTGU6 chip,and the effectiveness of the theoretical algorithm is confirmed.The algorithm improves the fast tracking,steady-state accuracy,and anti-interference robustness of the joint system.关键词
卡尔曼滤波/矢量控制/双环控制算法/关节模组Key words
Kalman filter/vector control/dual-loop control algorithm/joint module分类
信息技术与安全科学引用本文复制引用
吴国安,陈继文,姚向国,李大勇,王会彬..基于扩展卡尔曼滤波FOC矢量关节模组双环控制算法研究[J].机电工程技术,2025,54(18):29-34,6.基金项目
山东省重点研发计划(重大科技创新工程)项目(2019JZZY010455) （重大科技创新工程）
济南市科技局"高校20条"引进创新团队项目(2019CXR037) （2019CXR037）
