基于转矩电流分层控制的转速伺服系统Anti-Windup调节器设计

Design of the Anti-Windup Regulator of the Speed Servo System Based on Torque Current Hierarchical Control

当转速调节器处于饱和非线性时,理论上基于积分状态值预测控制方法设计的转速调节器可使控制系统具有优秀的anti-windup性能,以及使系统性能不受负载转矩的影响,但该方法没有考虑负载转矩的估计时间和积分器时间常数对控制性能的影响,也没有考虑转速调节器处于线性区时,控制系统受负载转矩的影响。该文针对转速伺服系统中的anti-windup性能和负载鲁棒性进行研究,提出一种基于转矩电流分层控制的方法,使转速调节器在饱和非线性条件下,具有优秀的anti-windup性能,在线性条件下和饱和非线性条件下,都具有良好的负载鲁棒性,并且通过与积分状态预测值控制方法的仿真和实验对比分析,验证了所提方法的有效性。

In the saturation nonlinearity region, the speed regulator designed on the basis of(integral state prediction control, ISPC) has the excellent anti-windup performance theoretically, and at the same time, guarantees the system performance not affected by load torque. However the influence of the load torque estimated time and integrator time constant are not taken into consideration and the fact that the control system is affected by load torque in the linear region is also neglected. The anti-windup performance and load robustness of the speed servo system were studied. A method based on(hierarchical torque current control,HTCC) was proposed. When designed with HTCC, speed regulator also has the excellent anti-windup performance in the saturation nonlinearity region, thus offering the control system good load robustness in both linear and saturation nonlinearity region. The validity of the proposed method was verified by the comparison analysis of simulation and experiment between HTCC and ISPC.