永磁同步电机位置-速度一体化有限时间控制

Position-Speed Integrated Finite-Time Control of Permanent Magnet Synchronous Motors

为了提高永磁同步电机伺服系统位置控制的动态响应能力和抗负载扰动能力,提出一种基于有限时间扩张状态观测器的两相幂次吸引控制方法。针对传统三环PID控制中超调与快速收敛之间的矛盾问题,提出一种位置误差标幺化的两相幂次吸引律,基于该吸引律设计位置-速度一体化控制器,实现位置快速无超调跟踪性能。基于齐次性理论与李雅普诺夫稳定性理论,设计一种有限时间扩张状态观测器。仿真和实验结果表明,与传统PID控制以及线性扩张状态观测器对比,该方法具有快速收敛、无超调的位置跟踪特性以及较强的抗外部扰动能力。

In order to improve the dynamic response and load disturbance resistance of the position control of a permanent magnet synchronous motor(PMSM)servo system,a two-phase power attraction control method based on a finite-time extended state observer was proposed.To address the contradiction between overshoot and fast convergence in the traditional three-loop PID control,a two-phase power attraction law with position error scalarization was proposed,and a position-speed integrated controller was designed based on this attraction law to achieve fast position tracking performance without overshoot.A finite-time extended state observer was designed based on the homogeneous theory and Lyapunov stability theory.Simulation and experimental results show that this method had fast convergence,overshoot-free position tracking characteristics and strong resistance to external disturbances compared with traditional PID control and linear extended state observer.