基于DSP的LPMSM驱动系统自适应积分反推位置控制

Adaptive Integral Backstepping Position Control for LPMSM Drive System Based on DSP

直线永磁同步电机(LPMSM)取消了滚珠丝杠和齿轮等中间传动环节,致使参数摄动、外界干扰和齿槽力等因素直接影响驱动系统的性能。为提高LPMSM驱动系统的位置跟踪精度,提出了一种自适应积分反推控制(AIBC)方法。建立含有干扰项的LPMSM系统模型,设计AIBC克服干扰对系统的影响,通过引入自适应律可对系统干扰进行估算并实时调整控制器参数,确保电机实际位置跟踪给定参考轨迹。采用高性能的数字信号处理器(DSP)作为控制核心,验证AIBC方法的有效性。结果表明,该方法可以使LPMSM驱动系统具有良好的伺服性能。

The linear permanent magnet synchronous motor(LPMSM)cancels the intermediate transmission links such as ball screw and gear,the performance of the drive system is directly affected by parameter perturbation,external interference and cogging force.In order to improve the position tracking accuracy of LPMSM drive system,an adaptive integral backstepping control(AIBC)method was proposed.The LPMSM system model with interference was established.An AIBC was designed to overcome the influence of interference on the system.By introducing an adaptive law,the system interference could be estimated and the controller parameters could be adjusted in real time to ensure that the actual position of the motor could track a given reference trajectory.A high-performance digital signal processor(DSP)was used as the control core to verify the effectiveness of the AIBC method.The results show that the method can make the LPMSM drive system have good servo performance.