摘要
永磁球形电动机动力学系统是一个多变量、非线性、强耦合系统.外部扰动、参数估计误差以及模型的近似均会影响系统的控制效果.为了获得良好的静态和动态性能,改善轨迹跟踪性能,提出了一种基于计算力矩法的永磁球形电动机轨迹跟踪控制策略.仿真结果表明,此方法可有效地削弱各轴向间非线性交叉耦合的影响,对外部扰动和模型误差具有良好的鲁棒性,可实现理想的轨迹跟踪控制效果.
The permanent magnet spherical motor(PMSM)is a multivariable,nonlinear and strong coupling system.The external disturbance,the evaluated error of parameters and model error all have a great influence on the control performance of the motor. In order to obtain a better static and dynamic performance,and improve the trajectory tracking performance,a trajectory tracking control strategy of PMSM based on a computed torque method was proposed. The simulation results indicate that the proposed method can effectively eliminate the influences of inter-axis nonlinear coupling,and has better robustness against the external disturbance and the model error. Furthermore on excellent tracking trajectory performance can also be realized.
出处
《天津大学学报(自然科学与工程技术版)》
EI
CAS
CSCD
北大核心
2013年第11期991-997,共7页
Journal of Tianjin University:Science and Technology
基金
国家自然科学基金资助项目(51007061)
天津市应用基础与前沿技术研究计划资助项目(10JCYBJC07900)
关键词
永磁球形电动机
动力学模型
轨迹跟踪
计算力矩法
permanent magnet spherical motor
dynamic model
trajectory tracking
computed torque method