直流力矩电机力矩波动的自适应补偿控制  

Adaptive compensation of torque ripple in DC torque motor

作　　者：宋彦[1,2] 高慧斌[1] 张淑梅[1] 杜璧秀[1] 郭同健[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院研究生院,北京100039

出　　处：《光学精密工程》2010年第10期2212-2220,共9页Optics and Precision Engineering

基　　金：国家863高技术研究发展计划资助项目(No.2008AA0047)

摘　　要：为解决伺服系统在低速状态下其电机力矩波动影响速度稳定性的问题,提出了一种基于自适应补偿的控制策略。从电机结构出发,分析了电机力矩波动产生的机理,建立了力矩波动的数学模型,提出了基于鲁棒自适应的控制策略。系统控制器由两部分组成:超前-滞后校正用于保证系统的名义稳定性和鲁棒性;自适应补偿控制则采用最小二乘法在线辨识力矩波动,并给予自适应补偿。实验结果显示:与仅使用超前-滞后方法相比,当采用自适应补偿时,速度波动的峰-峰值由4.21%下降到1.77%,均方根值由0.97%下降为0.39%,得到的结果说明提出的方法能够有效降低电机力矩波动对速度稳定度的不利影响。An adaptive control and compensation scheme is proposed in this paper to solve the problem on torque ripples caused by the velocity fluctuation in a DC torque motor. Firstly, a mechanism for torque ripple is found out acoording to the analysis of DC motor＇s structure. Then, the mathematical model is established and a robust adaptive control strategy is designed. The control algorithm is contained by two parts： one is a a lead lag feedback controller for verifying the stability and the robustness of the system nominally;and the other is an adaptive compensator, which is used to compensate the torque ripple adaptively through a recursive least square identification. The experimental results show that the peak-peak value and the RMS value of velocity fluctuation obtained by the proposed method been reduced to 1.77% and 0.39% respectively as compared with two indexes of 4.21% and 0. 97% obtained only by the lead-lag feedback controller. The conclusion is that proposed adaptive compensation method can depress the velocity fluctuation caused by motor torque ripple efficiently.

关 键 词：直流力矩电机 自动控制 低速伺服系统 力矩波动 参数辨识 自适应补偿 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TM331[自动化与计算机技术—控制科学与工程]