基于状态观测和反馈的伺服系统位置控制器

Position controller for servo systems based on state observer and feedback

为了提高永磁同步电机伺服系统中的位置控制性能,提出一种基于状态观测器和状态反馈的位置控制器。状态观测器可以利用较低精度的位置传感器来准确观测负载转矩、转子位置和转速。基于状态空间算法的位置控制器通过合适的零极点配置,可以提高位置控制性能。利用观测的负载转矩可以把负载的变化作为系统扰动进行补偿。仿真和实验结果表明:该控制器与传统的比例积分微分控制器相比,位置控制快速准确并且没有超调,在负载变化时系统仍然能够保持很好的稳定性和控制精度。

A position controller based on a state observer and feedback was developed to improve position control in servo systems of permanent magnet synchronous motors. The state observer observes the precise load torque, rotor position and speed with only a low accuracy position sensor. Proper setting of the zero and pole points improves the position control provided by the state space position controller. With the observed load torque, the controller regards load changes as system disturbances to compensate. Simulations and experimental results show that the position controller gives faster, more accurate position control results without overshoot than traditional proportion-integral-differential controllers. The system is shown to remain stable and whole accurately following load torque changes.