永磁伺服系统转速跟踪控制与数据驱动的参数设计方法

doi:10.19595/j.cnki.1000-6753.tces.230163

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摘要

在永磁伺服控制系统中,传统的转速控制策略在低频段存在幅值与相位偏差问题,降低了转速跟踪控制精度。为解决该问题,本文提出了一种高精度的转速跟踪控制策略与数据驱动的参数设计方法。主要思路是在转速控制环节串联一个滞后-超前补偿器,用以校正低频段的幅值与相位;以低频段补偿后的幅值及相位误差最小为优化目标,同时约束补偿器在全频带范围内的最大幅值增益和相移,设计了一种数据驱动的补偿器参数优化设计方法,并对补偿后控制系统的性能进行了分析评估。实验结果表明,基于实验数据所设计的补偿器在转速指令频率小于1 rad/s的低频段区间,转速跟踪误差小于2 r/min,相较于传统方法控制精度显著提升;在跟踪转速阶跃指令时,本文方法和传统方法的控制效果相当,这说明本文方法在改善低频段跟踪性能的同时,保持了控制系统在中高频段原有的幅频和相频特性。

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关键词 ：永磁伺服系统, 转速控制, 滞后-超前补偿器, 数据驱动, 参数优化

Abstract：

The servo system is also called a follow-up system, which is a feedback control system used to accurately follow or reproduce a process. So that the position, orientation, state, and other controlled output variables of the object can follow the arbitrary changes of the input target (or given value). Because the servo system can achieve precise speed and position control in a wide range, it is generally used in occasions that require high system performance, such as industrial production, military defense security, and many other fields. With the improvement of manufacturing technology of permanent magnet materials, the permanent magnet servo system has also been developed rapidly, and the control performance has also been improved. However, the traditional speed control strategy in the servo system still has the problem of amplitude and phase deviation in the low-frequency band, which reduces the precision of speed tracking control.
In order to improve the speed tracking accuracy of the servo system in the full speed range, a high-precision speed tracking control strategy and a data-driven parameter design method are proposed. Firstly, a lag-lead compensator is connected in series in the speed control link to correct the amplitude and phase of the low-frequency band. This is expected to make the corrected amplitude and phase shift tend to zero, to improve the speed tracking accuracy. Secondly, considering that it is still difficult to avoid performance degradation when the system parameters are not matched, it is necessary to optimize the parameters of the compensator. Based on this, a data-driven parameter optimization design method was designed to minimize the amplitude and phase errors after low-frequency compensation and constrain the maximum value gain and phase shift of the compensator in the full-frequency band. Thirdly, to further improve the adaptability of parameters, according to the simulation or experimental data, the actual amplitude gain and phase shift of the system in the low-frequency band is obtained. And then the parameters of the lag-lead compensator are continuously optimized based on the feedback junction so that the compensated amplitude gain and phase shift have the minimum mean square error. Compared with the traditional methods, the designed lag-lead compensator and parameter optimization method can be more matched with the actual system, so that it can better cope with the negative effects caused by uncertain factors such as the mismatch of the moment of inertia in the actual system.
The experimental results show that the compensator designed based on experimental data has a speed tracking error of less than 2 r/min in the low-frequency range where the speed instruction frequency is less than 1 rad/s, which significantly improves the speed control accuracy compared with the traditional method. And the control effect of this method is equivalent to that of the traditional method when tracking the speed step command, which shows that the proposed method does not affect the dynamic characteristics of the servo system.
The analysis conclusion indicates that the proposed method can improve the tracking performance in the low-frequency band while maintaining the original amplitude-frequency and phase-frequency characteristics of the control system in the middle and high-frequency bands. This is conducive to improving the speed tracking accuracy of the servo system in the full speed range and promoting the engineering application of the permanent magnet servo system.

Key words： Permanent magnet servo system speed control lag-lead compensator data-driven parameter optimization

PACS:

TM351

基金资助:

国家自然科学基金（51807200, 52177202）和国家重点基础研究发展计划（973）（2015CB251004）资助项目

通讯作者: 张伟伟, 男,1989年生,博士,助理研究员,主要研究方向为永磁同步电机驱动控制技术。E-mail: zw7589@163.com

作者简介: 连传强, 男,1986年生,博士,副研究员,研究方向为电机系统及其控制、人工智能。E-mail: wzdslcq@163.com

引用本文:

连传强, 郭力源, 许观达, 肖飞, 张伟伟. 永磁伺服系统转速跟踪控制与数据驱动的参数设计方法[J]. 电工技术学报, 0, (): 8922-. Lian Chuanqiang, Guo Liyuan, Xu Guanda, Xiao Fei, Zhang Weiwei. Speed tracking control strategy and data-driven parameter design method of permanent magnet servo system. Transactions of China Electrotechnical Society, 0, (): 8922-.

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