摘要
测速噪声是影响扰动补偿控制性能的重要因素。针对高精度直驱永磁同步电机速度伺服系统,提出一种基于同步测速法的扰动补偿控制方法。同步测速信号具有较高的速度分辨率和非固定的测速周期,通过将其作为扰动观测器输入,可减低测速噪声对扰动力矩观测量的干扰。同时,对定周期的扩张状态观测器进行改进,使得其更新步长与同步测速信号保持一致,以进一步提高扰动补偿控制效果。该控制方法具有较好的鲁棒性,且实现简单、计算快捷。实验结果验证了该控制方法在抑制测速噪声、提高扰动补偿效果方面的有效性。
The noise resulted from speed measurement greatly influence on the performance of disturbance compensation control. For the high accuracy speed servo system of direct-drive permanent magnet synchronous motors, a disturbance compensating control based on the synchronous measurement method was developed. The synchronous measurement speed signal has a high resolution and a fluctuant measurement time. By taking it as input to the disturbance observer, the effect of the speed noise on disturbance torque observation can be reduced. Meanwhile, a modification to synchronize the calculation of the extended state observer with synchronous-measurement speed signals was investigated, and the performance of disturbance compensating control was further improved. The proposed method has good robustness, and is easy to be implemented. The experimental results prove its effectiveness in reducing speed noise and improving disturbance compensating performances.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2015年第13期3410-3416,共7页
Proceedings of the CSEE
基金
国家自然科学基金项目(51277007)~~
关键词
永磁同步电机
速度伺服
同步测速法
扩张状态观测器
测速噪声
permanent magnet synchronous motor（PMSM）
speed servo
synchronous measurement method
extended state observer
speed noise
