摘要
针对典型的电机伺服系统,提出了一种鲁棒复合非线性伺服控制器的离散域设计方案。把系统的扰动和不确定性归结为一个斜坡信号(其变化率恒定),设计一个降维线性扩展状态观测器,对系统未测量状态和未知扰动加以估计。把设计的控制律应用于永磁同步伺服电机,先在MATLAB上进行仿真分析,随后基于TMS320F28335DSC进行试验测试。结果表明系统在各种类型扰动作用下,对目标位置都能实现快速、平稳和准确的跟踪,具有较好的鲁棒性。
A robust composite nonlinear servo controller design was proposed in discrete-time domain for typical motor servo systems. The unknown disturbance and uncertainties in the system were lumped into a ramp signal （with a constant rate of change ） , and a reduced-order linear extended state observer was designed to estimate the un- measured state and the unknown disturbance. The controller was then applied to a permanent magnet synchronous motor （PMSM） servo system. MATLAB simulation was first conducted, followed by experimental tests based on a TMS320F28335DSC. The results verify that the system, in the face of a variety of disturbances, was capable of tracking the target positions fast, smoothly and accurately, with a good robustness.
出处
《电机与控制应用》
2018年第1期12-17,40,共7页
Electric machines & control application
基金
国家自然科学基金项目(61174051)
关键词
伺服电机
观测器
时变扰动
复合非线性控制
离散域设计
servo motor
observer
time-varying disturbance
composite nonlinear control
discrete. time design
