永磁同步电动机伺服系统自校正零相位误差跟踪控制  

Self-Tuning Zero Phase Error Tracking Control for Permanent Magnet Synchronous Motor Servo System

作　　者：曲永印[1] 赵希梅[2] 郭庆鼎[2] 张志锋[2] 

机构地区：[1]北华大学电气工程学院,吉林132013 [2]沈阳工业大学电气工程学院,沈阳110023

出　　处：《电工技术学报》2008年第1期60-64,共5页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(59875061);辽宁省教育基金(20060627)资助项目

摘　　要：针对基于零相位误差跟踪控制器(ZPETC)的永磁同步电动机伺服系统易受系统参数变化的影响,本文采用递推最小二乘法对永磁交流伺服系统的转动惯量和粘滞摩擦系数进行了在线估计,并利用根据辨识得到的转动惯量与粘滞摩擦系数对ZPETC进行在线调整,使系统在参数变化时仍然具有良好的跟踪性能。为了克服负载转矩突变对伺服系统的不良影响,还设计了一个参数可以根据辨识得到的转动惯量和粘滞摩擦系数自动更新的负载观测器,该观测器可以使系统在参数变化时仍然能够精确地观测系统的负载转矩,进行精确的前馈补偿,从而大大提高了伺服系统的抗干扰性能。仿真结果表明,此控制方案在保证伺服系统的快速精确跟踪性的同时,对系统参数变化和负载扰动具有很强的鲁棒性。For the characteristic of permanent magnet synchronous motor （PMSM） servo system based on zero phase error tracking controller （ZPETC） is prone to suffer from the effect of parameters variations, the moment of inertia and friction coefficient of servo system are identified on-line using recursive extended least square （RELS）. Then ZPETC can self-tune according to the identified parameters. This can make servo system still have good tracking performance when the parameters are changed. A load observer is designed to overcome bad effect of load variation. To ensure the accuracy of load observer, the moment of inertia and friction coefficient that have been identified are used to update the parameters of the system, so the observer can accurately observe the load torque when the parameters of the system are varied severely. This can improve ability to resistance disturbances of the servo system varied. The simulation results show that the method enhances the fast tracking performance, and has a stronger robustness to parametric variations and disturbances.

关 键 词：永磁同步电动机 零相位误差跟踪控制器 参数辨识 自校正控制 负载观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM383.42[自动化与计算机技术—控制科学与工程]