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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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)

Received: 22 October 2012 Published: 05 August 2014

PACS:	TP273
	TM381

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	Hu Jingao
	Cheng Guoyang

Cite this article:

Hu Jingao,Cheng Guoyang. Robust Proximate Time-Optimal Control with Application to a Motor Servo System[J]. Transactions of China Electrotechnical Society, 2014, 29(7): 163-172.

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

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