摘要
本文对直接驱动速度伺服系统提出一种新的控制方法:"模式-自校正"控制。模式按二次型最优系统设计;依对象的状态必须与模式保持一致的原则,导出"模式控制律";用协方差重调的RLS方法在线估计电机负载的参数,并对系统进行自校正控制;为了进一步提高系统的抗负载干扰能力,用一降维观测器重构不可量测的负载电流参于控制。仿真实验表明(仿真时,系统中引入随机干扰信号,并考虑了量测误差影响),系统跟随能力强,不仅具有良好的动、静态性能,而且对参数的时变性、大幅值突变,以及负载干扰均具有强壮的鲁棒性。
This paper presents a new scheme of model-adaptive controller for direct drive speed servo system of DC motor. The optimal model designed based on the quadratic performance index is discussed. According to the principle of keeping object states in accordance with model states, the model controller is derived. The total inertia moment and the viscous friction of the motor-load system are estimated by using least squares with covariance resetting and selftuning control is implemented in the described system. In order to reduce or eliminate the response of the system to load current disturbance,a reduced-order observer is also implemented to recon struct only load current, which will be used as controlled state variable. The resulting control methodology has been simulated with some measurement noises. Excellent performance is exhibited despite large and abrupt changes in the load moment of inertia, viscous friction, and torque disturbance.
出处
《电气传动》
北大核心
1996年第1期22-31,共10页
Electric Drive
