基于ZPETC和混合灵敏度复合控制的交流伺服系统

Compound control based on ZPETC and mixed sensitivity for AC servo system

针对永磁同步电机(PMSM)交流伺服系统,提出了基于零相位误差跟踪控制(ZPETC)和混合灵敏度的复合控制方法,以解决交流伺服系统的快速跟随性能和抗干扰性能的矛盾.首先根据混合灵敏度控制方法设计了保障系统鲁棒稳定性和抗干扰性能的控制器,然后将包括混合灵敏度控制器在内的闭环系统整体看成被控对象,将其离散化后,进行ZPETC的设计.ZPETC保障了系统的跟随性能.仿真结果表明,所提出的复合控制方法在保证伺服系统的快速精确跟踪性的同时,对系统参数变化和负载扰动也具有很强的鲁棒性.

For the AC servo system of permanent magnet synchronous motor （PMSM）, a compound control strategy based on combining zero phase error tracking control （ZPETC） with mixed sensitivity control was proposed to solve the conflict between fast tracking performance and interference rejection of the AC serve system. Firstly, the mixed sensitivity controller could overcome the influences of the uncertainties of parameters perturbation and external load disturbances, and achieve the stability and robustness of the system. Then, the close loop system was discretized and the ZPETC controller was designed. The ZPETC controller can ensure that the system has fast tracking performance and implements exactly tracking. The simulation results show that the control scheme not only enhances fast tracking performance, but aiso has a strong robustness to parametric variations and load disturbances.