永磁同步电机有限时间预设性能控制

Finite-time control for permanent magnet synchronous motor with prescribed performance

为实现扰动作用下对永磁同步电机角位置伺服系统的高瞬态和稳态跟踪性能控制,本文提出一种具有预设性能约束的有限时间控制方法.首先,设计扰动观测器实现对负载力矩扰动的估计与补偿.其次,引入有限时间预设性能函数以保证角跟踪误差的动态性能,并通过可逆变换将受不等式约束的角位置跟踪误差转换为等效的无约束误差形式.然后,将有限时间指令滤波反步法应用于控制器设计中,不仅可以避免“微分爆炸”的现象,而且能够保证跟踪误差的有限时间内收敛.最后,通过仿真实验验证了该算法的有效性和对扰动的鲁棒性.

To achieve high transient and steady-state tracking performance for angular servo control of permanent magnet synchronous motor(PMSM)under disturbance,this paper proposes a finite-time control method with prescribed performance.Firstly,the disturbance observer is introduced to estimate and compensate the load torque.Secondly,a finitetime prescribed performance function is designed to guarantee the dynamical performance for angular tracking error,by utilizing an invertible transformation,the angular tracking error that subjects to inequality constraint can be transformed into an equivalent unconstrained one.Thirdly,the finite-time command filtered backstepping is applied for the controller design which not only can avoid the“differential explosion”phenomenon,but also can ensure the tracking errors converge in finite-time.Finally,the simulation results are presented to verify the effectiveness of the proposed method and the robustness against the disturbance.