基于LQSF的伺服系统速度调节器的设计与研究  

Design and Research on Speed Regulator of Servo System Based on Linear Quadratic State Feedback

作　　者：陈荣[1,2] 邓智泉[1] 严仰光[1] 

机构地区：[1]南京航空航天大学自动化学院 [2]盐城工学院盐城224003

出　　处：《电工技术学报》2004年第7期38-43,共6页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(50337030)。

摘　　要：针对按经典控制理论设计的速度调节器和实际运行结果出入大的问题,提出用二次型性能指标最优调节器(LQSF)的设计思想,实现永磁同步伺服系统的速度环调节器的设计。根据二次型性能指标最优设计思路,通过适当调节状态变量的加权矩阵,使相应状态变量满足控制要求,性能指标最优。对于速度调节过程中的饱和,设计采用Bang-Bang控制来实现过渡过程响应时间的最小化。在电机速度阶跃过程中,设置较大的限幅力矩,可以使系统有更快的响应,更小的响应时间。仿真和实验证实了本文所做设计的有效性。Aiming at the problem that the speed regulator parameters designed by classical control theory are very different from that used in practical, the design of speed regulator of Permanent Magnet Synchronous Servo System is put forward by means of Linear Quadratic State Feedback (LQSF). With the help of properly modulating the weighted matrix of state variable, the corresponding variables could meet the demand of system control and the performance specification is excellent. When the speed regulator becomes saturation, the Bang-Bang control method is applied to reduce response time of transitional process. The maxim limit torque is set when motor speed is jumping, so that the response of system can be quickened and the response time can be shortened. The differential feedback of motor speed is imported to speed regulator, as a result of which the overshoot of speed depresses obviously. Both numerical simulation and experiment results show that the approaches adopted are valid.

关 键 词：永磁同步伺服系统 二次型性能指标最优调节器(LQSF) 速度调节器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] O175.13[自动化与计算机技术—控制科学与工程]