基于最大相位裕度的位置伺服系统设计

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摘要

针对具有延迟环节的位置伺服系统,提出了在一定中频区宽度下使系统具备最大相位裕度的设计方法,通过使开环相频特性对角频率的导数为零原则,确定了开环幅频特性的截止频率,得出了相位裕度、截止频率与中频区宽度的关系,给出位置控制器参数设计的新方法,可使所设计的系统动态性能在期望的范围内,提高系统对开环增益变化的鲁棒性。此外,为了保证伺服系统跟踪准确度,实现了带有延迟环节伺服系统的前馈补偿,通过构建位置信号的微分观测器,实现高信噪比的数字前馈补偿。最后,以研制的永磁同步电动机（PMSM）位置伺服系统作为实验平台,仿真和实验结果表明该方法的有效性,该方法原则上也适用于工业过程控制。

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	李长红
	陈明俊
	韩耀鹏

关键词 ：相位裕度, 位置伺服系统, 位置控制器, 永磁同步电动机, 前馈补偿

Abstract：

For those position servo systems having time delay element, a design method is presented that the system possesses maximum phase margin under the same length of mid-frequency interval. Open loop gain crossover frequency is determined by letting the derivative of phase to angular frequency to zero. As a result, characteristics of phase margin and gain crossover frequency versus mid-frequency interval width are obtained. A new design method of position controller parameters is given and the designed system dynamic performance can be within the expected range. The robustness to open loop gain variation can be improved significantly. Moreover, in order to guarantee the servo system tracking precision, feedforward compensation to the servo system with time delay is executed. Through establishing position differential observer, numerical feedforward compensation with high signal to noise ratio is achieved. At last, a control platform based on permanent magnet synchronous motor (PMSM) position servo system is developed. Simulation and experimental results verify the effectiveness of the proposed approach, which can also apply to industry process control.

Key words： Phase margin position servo system position controller permanent magnet synchronous motor feedforward compensation

收稿日期: 2014-01-26 出版日期: 2015-10-30

PACS:

TM341

作者简介: 李长红男,1978年生,硕士,高级工程师,研究方向为交流电动机伺服驱动及其控制。陈明俊男,1942年生,研究员,研究方向为伺服系统驱动与控制技术,自适应控制与最优控制。

引用本文:

李长红,陈明俊,韩耀鹏. 基于最大相位裕度的位置伺服系统设计[J]. 电工技术学报, 2015, 30(20): 10-20. Li Changhong, Chen Mingjun, Han Yaopeng. Design of Position Servo System Based on Maximum Phase Margin. Transactions of China Electrotechnical Society, 2015, 30(20): 10-20.

链接本文:

http://dgjsxb.ces-transaction.com/CN/Y2015/V30/I20/10

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