基于参考输入学习的永磁同步电机高精度位置伺服系统

A High-precision Position Servo System of Permanent Magnet Synchronous Motors With Reference Input Iterative Learning

对于永磁同步电机高精度位置伺服系统,由于控制器带宽及性能的限制,传统控制方法难以获得理想的位置跟踪精度。针对具有重复运行特性的永磁同步电机高精度位置伺服系统,提出采用级联式迭代学习控制修改参考输入信号的方法,通过迭代修正参考输入,使得伺服系统实际位置理想跟踪原本期望输入,给出了控制器结构,推导了收敛条件。仿真和实验结果验证了该方法的有效性。该方法与传统控制器相比,可改善伺服控制精度;控制器设计简单,计算量小,无需对原控制器进行改动或重新设计,方便了伺服产品的开发;在满足迭代学习收敛条件的前提下,对电机参数不敏感,鲁棒性强。

For a high-precision position servo system of permanent magnet synchronous motors,it is difficult to obtain good tracking accuracy with traditional control methods because of the controller’s bandwidth and performance limitations.Based on such a position servo system running repeatedly,a cascaded iterative learning control method was proposed to modify the reference input signal,through which to make the actual position of the servo system to track the original expected input.The controller structure was given,and the convergence condition was derived.Simulation and experimental results prove the effectiveness of the proposed method.The method has the following characteristics： Firstly,compared with the traditional controller,the method can greatly improve the tracking accuracy;Secondly,the controller design is simple and with small amount of calculations and also without changes to the original controller,so that the development of servo products is more convenient;Thirdly,under the circumstance of meeting the convergence condition,the method has strong robustness and is not sensitive to motor parameters.