采用滑模观测器的SGCMG框架伺服系统研究

Research on SGCMG frame servo system using sliding mode observer

针对框架伺服系统中应用的传统机械式角度测量传感器存在增加系统尺寸、重量和成本以及安装传感器会引起系统误差和降低系统可靠性等问题,基于TMS320F28335主控制器和A3PE3000从控制器设计硬件电路进行电信号采集和运算,并提出滑模观测器进行角度估算以替代机械式传感器,角度估算依据硬件电路测得电机绕组中有关精确的电信号,采用建立滑模观测器和基于锁相环算法实现转子位置和速度估算。在Simulink中搭建仿真模型,仿真结果表明,通过滑模观测器估计得到的位置值和速度值在系统运行0.2 s后能够稳定的跟踪上实际值。

Conventional mechanical angle measurement sensors are utilized in order to solve the problems caused by increasing system size,weight,cost and installing sensors that lead in errors and unreliability in frame servo systems.Based on TMS320F28335as main controller and A3PE3000as slave controller,we have designed the hardware circuit for electrical signal acquisition and operation.Meanwhile,a sliding mode observer is proposed for angle estimation to replace mechanical sensors.In this method,the relevant electrical signals in the motor windings are measured by hardware circuits.The rotor position and velocity estimation are implemented by establishing a sliding mode observer and a phase-locked loop algorithm.The simulation model is built in Simulink.The simulation results show that the values of position and velocity estimated by the sliding mode observer are convergent to real value after the system runs for 0.2s.