工业伺服系统大范围位置控制器的设计与验证

Design and Verification of Large-stroke Position Controller for Industrial Servo Systems

针对带有惯性阻尼环节的工业位置伺服系统,设计了一种能实现大范围快速定点运动的控制器。控制器根据系统速度的大小,在时间最优控制律与线性控制律之间进行平滑切换。采用线性控制的闭环极点阻尼系数和自然频率作为可调参数,设计了近似时间最优伺服控制律;为了对速度(未量测)和未知负载扰动进行估计,设计了一个能实现动态增益的非线性扩展状态观测器。此控制器被用于一个永磁同步电机位置伺服系统,进行了MATLAB仿真,以及基于TMS320F28335 DSC的实验测试,结果显示伺服系统在空载、半载和满载三种未知扰动情况下都能对给定的目标位置进行准确的跟踪,且超调量低于2%,具有理想的控制性能。这个设计可用于工业伺服传动系统的高性能位置调节。

A controller design was proposed to achieve large-stroke fast set-point motion in typical industrial position servo systems with an inertia damping block.The controller smoothly switches between a time-optimal control law and a linear control law,based on the magnitude of system speed.The damping ratio and natural frequency of the closed-loop poles within the linear control regime were utilized as the tuning parameters to design the quasi-time-optimal servo control law.To estimate the un-measured speed and the unknown load disturbance,a nonlinear extended state observer with dynamic gains was adopted.The controller design was applied to a permanent magnet synchronous motor(PMSM)servo system,and MATLAB simulation was conducted,followed by experimental verification using a TMS320F28335 DSC.The results indicate that the servo system was capable of tracking the given target positions accurately in the face of unknown disturbances equivalent to null,half or full rated load respectively,with an overshoot within 2%,featuring a desirable control performance.The design may provide an effective solution to high-performance position regulation in industrial servo drive systems.