三自由度电动机自适应控制

Three Degrees-of-Freedom Motor and its Adaptive Control

本文给出了三自由度电动机电磁和力学模型。分析表明，绕组电流和磁链各分量之间、三个力学轴之间都存在着交叉耦合，严重影响着系统性能。本文提出的矢量控制和扰动转矩观测器方法解决了电磁和力学耦合的问题。采用自适应控制，控制器可以有效跟踪系统参数的变化，提高系统性能。仿真和实验结果证实了理论分析。

This paper presents the electromagnetic model and the mechanical model of Three Degrees-of-Freedom Motor(3DOFM).There exist nonlinear cross-coupling between current and flux components and between three axes, which seriously restrict its dynamic performance. The decoupling control of 3DOFM can be realized by vector control and disturbance torque observer. The adaptive scheme is applied to improve the robustness of system. The effectiveness of the control scheme are confirmed by simulation and experimental results.