摘要
为实现永磁同步电机伺服系统的快速与准确位置控制,提出一种鲁棒复合非线性控制方案。控制方案中包含线性反馈、非线性反馈和扰动补偿3部分,其中线性反馈可实现快速响应,非线性反馈用于抑制超调,而扰动补偿机制则采用线性扩展状态观测器对系统不确定性和未知扰动加以估计和补偿,以消除系统稳态误差。针对PMSM位置伺服系统模型,设计了一个参数化控制器,并从理论上分析了闭环稳定性。基于TMS320F2812进行了实验测试,结果表明控制系统可以实现快速、平稳和准确的定点位置控制。这种控制方案可方便地应用于相关的伺服系统。
A robust composite nonlinear control scheme was proposed to achieve fast and accurate position regulation in PMSM servo systems.The control scheme consists of a linear feedback part,a nonlinear feedback part and a disturbance compensation mechanism.The linear feedback part can achieve fast response,and the nonlinear part is designed for suppressing the overshoot.The disturbance compensation mechanism adopts a linear extended state observer to estimate the uncertainties and disturbance for compensation,so as to remove the steady-state error.A parameterized controller was designed based on the model of PMSM position servo system and the closed-loop stability was analyzed theoretically.Experimental tests have been carried out using the TMS320F2812 board and the results verify that the controlled system is capable of fast,smooth and accurate set-point positioning in PMSM.The control scheme can be easily applied to relevant servo systems.
出处
《电气传动》
北大核心
2013年第8期49-52,共4页
Electric Drive
基金
国家自然科学基金项目(61174051)
关键词
永磁同步电机
瞬态性能
非线性控制
观测器
permanent magnet synchronous motor（PMSM）
transient performance
nonlinear control
observer
