基于ESO-CPC的激光追踪测量系统电机仿真方法

Motor simulation method of a laser tracking measurement system based on ESO-CPC

针对常规的PID方法控制电机已不能满足激光追踪测量系统中高精密测量要求的问题,本文结合永磁同步电机的数学模型和激光追踪测量系统的电流控制方法,建立了基于扩张状态观测器电流预测控制算法模型,并运用Matlab/Simulink软件进行仿真分析。仿真结果表明:激光追踪测量系统电机控制模型的有效性,避免了由模型误差和不确定性干扰的影响和电机的内外扰动,能够有效地减小激光追踪控制系统电流环扰动和转矩波动,并且激光追踪测量系统表现出较好的动态响应特性和速度控制特性;对提高系统稳态跟踪精度、增强系统鲁棒性有重要的现实意义。

In modern precision measurement system, the conventional PID control method cannot meet the requirements of high-precision measurement in the laser tracking measurement system. Combining the mathematical model of the permanent magnet synchronous motor and the current control method of the laser tracking measurement system, the model of a laser tracking system based on the current predictive control of an extended state observer the Matlab/Simulink software for the simulation analysis. The simulation results show that the motor control model of the laser tracking system is effective. The proposed method avoids the influence of many factors such as model error, uncertainty disturbance, and internal and external disturbances of the motor, which can effectively reduce the current loop disturbance and torque ripple of the laser tracking control system. Moreover, the laser tracking measurement system shows good dynamic response and speed control characteristics. The proposed method has important practical significance for improving the steady-state tracking accuracy, and enhancing the robustness of the system.