鲁棒PID控制器在直流无刷电机系统中的应用  

Application of Robust PID Controller in Brushless DC Motor

作　　者：钱坤[1] 谢寿生[1] 高梅艳[1] 屈志宏[1] 

机构地区：[1]空军工程大学,陕西西安710038

出　　处：《中小型电机》2005年第2期31-34,共4页S&M Electric Machines

摘　　要：PID控制器在工业领域应用最为广泛。本文通过研究标准内外层双回路控制器结构在永磁直流无刷电机速度伺服系统中的应用,提出了一种状态空间参数化模型,其可以将鲁棒PID控制器的设计转化为线性矩阵不等式的优化问题。对实验结果的分析表明,当模型相对不确定时,本文提出的带LMI优化的鲁棒PID控制器在控制性能上可获得很大的提高。同时,该控制器满足闭环系统一致指数稳定,收敛性好。H 范数有界。The PID controller is most commonly used for industrial applications. After studying the standard nested two loop controller structure in a permanent magnet brushless DC motor speed servo system applications, this paper proposes a state space parametrization model which allows to convert robust PID controller design into an linear matrix inequality(LMI) optimization problem. An analysis of experiment results demonstrates that the proposed robust controller with LMI optimization offers noticeable improvements in performance especially in cases of (relatively large) model uncertainties. And the proposed technique guarantees uniform exponential stability of the closed loop system, a desired rate of convergence, and H ∞ norm bound.

关 键 词：鲁棒PID控制器 应用 电机系统 永磁直流无刷电机 线性矩阵不等式 速度伺服系统 双回路控制器 参数化模型 工业领域 状态空间 优化问题 控制性能 指数稳定 闭环系统 H∞范数 FID 分析表 LMI 收敛性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TK018[自动化与计算机技术—控制科学与工程]