永磁同步电机位置伺服控制器及其Backstepping设计

Backstepping design for the position servo controller of permanent magnet synchronous motor

基于永磁同步电机(PMSM)精确的数学模型,针对PMSM绕组相电流和转速强耦合特性,用Backstepping方法设计高性能PMSM位置跟踪控制器。根据Lyapunov定理证明所设计的控制系统具有全局稳定性。结果表明,用Backstepping方法设计的PMSM控制系统可以获得很好的跟踪效果,并且其滤波跟踪误差迅速以指数特性收敛到零,达到很好的位置伺服控制特性。

The precise position control of a permanent magnet synchronous motor (PMSM ) is a more complicated problem due to the multi-input multi-output nature of the motor and the significant nonlinear coupling among its phase winding currents and the rotor velocity. Based on the exact model of the PMSM, a high performance position tracking controller is designed using backstepping method. The global stability of the control system is proved by Lyapunov theorem. The simulation results show that the controller has acquired good position tracking performance and the filtered tracking error goes to zero exponentially fast for electromechanical dynamics. The whole systemachieved high perfonnance position servo control characteristic.