一种基于交流伺服系统的非线性控制方法

Nonlinear Control Method Based on AC Servo System

在高性能交流伺服控制系统中,系统响应的快速性和鲁棒性非常重要,由于交流伺服系统是典型的非线性系统,因此采用传统的线性控制算法很难取得好的控制效果。在对交流伺服系统控制规律分析的基础上,提出了一种非线性控制方法,确定控制量非线性变化趋势,根据实时误差和误差变化自整定非线性参数,调整控制量变化快慢以提高系统的鲁棒性和快速性。同时提出了控制量增量因子自调整法以改善系统的动态过程。最后在1台48 V/2.3 kW永磁交流伺服驱动器上对提出的算法进行验证,实验结果表明,与传统线性控制方法相比,该非线性方法大大提高了控制系统的响应速度和驱动器的调速范围,增强了系统的鲁棒性。

Rapid response and robustness is very important in high - performance AC servo control system,however,due to the AC servo system is a typical nonlinear systems,the traditional linear control algorithm is difficultto get to the good performance. A nonlinear control method on the basis of the analysis of AC servo system control lawwas presented,determines the non-linear trend of control variables,according to the real-time error and error changeadjust nonlinear parameters,adjust control variables change to improve the robustness and rapid response of thesystem. To improve the dynamic process by introducing a control increment factor. Finally,experimented on a 48 V/2.3kW permanent magnet AC servo drive,the results show that the new method proposed in this paper greatly improved theresponse speed of the control system and it has wider speed range compared with the traditional methods.