无刷直流伺服电机的解耦控制

Decoupling Control for Brushless D. C. Servomotor

提出了一种无刷直流伺服电机的解耦控制方法。这种控制法将无刷直流伺服电机的多变量耦合系统解耦成多个单输入-单输出的子系统。然后对每个子系统进行反馈控制。本文还对位置跟踪进行PID控制,PID 系数通过极点配置方法得到。最后,给出了位置跟踪的计算机仿真结果验证解耦控制法的有效性。

Proposes a decoupling control method for brushiess D. C. servomotor. In this way the multiple variable and coupling system of brushiess servomotor can be decoupled into several single input-single output subsystems. Then the decoupling system controls every subsystem by current/voltage feedback. Furthermore, this system can control angle position by PID method in which the PID coefficients are obtained using pole placement. Finally,the computer simulation results of angle position tracking are given to demonstrate the effectiveness of the decoupling control method.