鲁棒近似时间最优控制及其在电机伺服系统的应用

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摘要提出一种在双积分伺服系统中实现快速无静差定点跟踪的控制方案。控制律以近似时间最优控制律为主体,引入对未知扰动的补偿,通过一个扩展状态观测器对系统中不可量测的速度信号和未知扰动进行估计。从理论上分析了闭环系统的稳定性。把这种控制方案用于一个永磁同步电机的位置-速度环的定点跟踪控制,并进行了Matlab数字仿真和基于TMS320F2812DSP的实验研究,结果表明所设计的控制系统可以对大范围的给定目标进行快速和准确的跟踪,且对扰动和系统参数差异具有较好的性能鲁棒性。

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	胡金高
	程国扬

关键词 ：伺服系统, 状态观测器, 扰动补偿, 时间最优控制

Abstract：A control scheme is proposed to achieve proximate time-optimal and accurate set-point tracking in typical double-integrator servo systems with control saturation. The control scheme initially applies a time-optimal control law to the plant for fastest tracking whenever possible, and then switches into a linear control law for smooth settling once the tracking error goes down to a specified value. An extended state observer is designed to estimate the un-measured velocity signal and the unknown disturbance for feedback and compensation. The closed-loop stability is analyzed theoretically. The control scheme is then adopted in the position servo control of a permanent magnet synchronous motor. Matlab simulations are conducted, together with experimental studies based on the TMS320F2812. The results show that the servo system can track a wide range of target positions fast and accurately, and has some degree of performance robustness against the disturbance and parameter variations.

Key words： Servo system state observer disturbance compensation time-optimal control (TOC)

收稿日期: 2012-10-22 出版日期: 2014-08-05

PACS:	TP273
	TM381

基金资助:国家自然科学基金（61174051）和福建省自然科学基金（2012J01258）资助项目

作者简介: 胡金高男,1962年生,硕士,副教授,研究方向为电力电子与电力传动控制。程国扬男,1970年生,博士,教授,研究方向为鲁棒与非线性控制及应用。

引用本文:

胡金高, 程国扬. 鲁棒近似时间最优控制及其在电机伺服系统的应用[J]. 电工技术学报, 2014, 29(7): 163-172. Hu Jingao, Cheng Guoyang. Robust Proximate Time-Optimal Control with Application to a Motor Servo System. Transactions of China Electrotechnical Society, 2014, 29(7): 163-172.

链接本文:

http://dgjsxb.ces-transaction.com/CN/Y2014/V29/I7/163

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