考虑饱和运行时永磁同步伺服系统速度调节器的设计与调整

Design and Adjustment of the Servo System Speed Regulator in View of Saturation

按经典控制理论设计的速度调节器与实际调试结果差距大,阶跃时,速度调节器会出现饱和,为此,借助于线性二次型状态反馈,实现伺服系统速度调节器的设计。速度调节器饱和时,采用棒?棒控制实现响应时间最小化。为保证动态过程中系统速度调节器的平稳过渡,合理选择调节器的转换阀值,并将速度微分反馈引入速度调节,保证在不影响系统响应快速性的前提下抑制超调与振荡。全状态反馈控制所引入的微分控制,可以预见系统响应趋势,它的引入可以有效地抑制速度响应超调。数字仿真和实验证实了分析与设计的有效性。

Because the speed regulator parameters designed by classical control theory were very different from that used in practical and the speed regulator became saturation when the speed of motor was jumping, the design of speed regulator of servo system was put forward by means of linear quadratic state feedback (LQSF). When the speed regulator became saturation, the Bang-Bang control method was applied to reduce response time of transitional process. In order to ensure smooth transition of speed regulator in dynamic process, the switch valve of speed was selected properly and the differential coefficient of motor speed was imported to speed regulating. As a result the overshoot and oscillation of speed were depressed obviously without affecting response speed of system. Differential control introduced by all state feedback control could forecast the trend of system response, and effectively restrain speed overshoot. Both simulation and experiment results validate the approaches adopted in this paper.