近似时间最优控制的离散域设计及其伺服应用

Discrete Design of Proximate Time optimal Control with Applications in Servo Systems

提出一种近似时间最优控制与扩展状态观测器相结合的快速无静差定点跟踪控制器的离散域设计。近似时间最优控制是在时间最优控制律的框架下引入一个线性工作区、并在定位误差进入这个工作区时把控制系统平滑切换到线性PD控制律;同时利用一个降阶的扩展状态观测器对系统的不可量测状态和未知扰动进行估计,而后对扰动加以补偿。把这种控制方案用于永磁同步电机位置伺服系统的控制,在Matlab/Simulink中进行了仿真研究,并基于DSP在交流同步伺服系统做了实验测试,结果表明所设计的控制系统可以对给定目标位置进行快速平稳且准确的跟踪,且对负载扰动和系统参数差异具有较好的性能鲁棒性。

The discrete design of a fast and accurate set-point tracking controller using proximate time-optimal control （PTOC） combined with extended state observer was presented.The PTOC control incorporates a linear working region into the framework of time-optimal control （TOC）,and the system is switched to a linear PD control law once the tracking error enters this region.A reduced-order extended state observer is adopted to estimate the un-measurable state variables and unknown disturbance,and a compensation term for the unknown disturbance is included in the control law.The control scheme was applied to a PMSM position servo system.Simulations in Matlab/Simulink and experimental test on DSP-based AC servo system have been carried out.The results confirm that the proposed control scheme can achieve fast,smooth and accurate tracking of target reference,and has good performance robustness with respect to load disturbance and parameter variations.