摘要
提出一种模式切换控制方案,以实现永磁同步电机伺服系统在转速受限条件下的快速与准确位置控制。针对伺服系统中位置与速度环组成的双积分模型,首先设计了一个参数化的近似时间最优控制律;为遵循电机最大转速的限制,在近似时间最优控制的加速段和减速段之间插入一个恒速控制段,从而构成了模式切换控制;采用一个线性扩展状态观测器对系统未知状态(转速)和未知扰动加以估计,并用于补偿,以消除系统稳态误差。基于TMS320F2812进行了实验测试,结果表明控制系统可以实现快速、平稳和准确的定点位置控制。这种控制方案可方便地应用于相关的伺服系统。
A mode switching control scheme was proposed to achieve fast and accurate position regulation in PMSM servo systems with speed constraint. A parameterized proximate time-optimal controller （PTOC） law was first designed based on the double-integrator model of PMSM servo system including the position loop and the speed loop. To satisfy the speed limitation of motor, a stage for speed regulation was inserted between the acceleration stage and the deceleration stage of the PTOC law. A linear extended state observer was adopted to estimate the un-measured state （ speed）, and the unknown disturbance for compensation, so as to remove the steady-state error. Experimental tests were carried out using the TMS320F2812 and the results.verified that the controlled system was capable of fast, smooth and accurate set-point positioning in PMSM. The con- trol scheme can be easily applied to relevant servo systems.
出处
《微电机》
北大核心
2013年第9期54-57,67,共5页
Micromotors
基金
福建省自然科学基金(2012J01258)
