交流伺服系统负载扰动补偿控制  

Load Disturbance Compensation Control for AC Servo System

作　　者：付霞[1] 王文格[1] 胡旭[1] 张鹏[1] 

机构地区：[1]湖南大学,机械与运载工程学院,湖南长沙410082

出　　处：《电力电子技术》2015年第4期78-80,87,共4页Power Electronics

基　　金：国家自然科学基金(51075137)~~

摘　　要：针对未知负载扰动对伺服系统动态性能的影响,提出一种基于降阶扩展卡尔曼滤波器(EKF)的负载转矩在线辨识及补偿方法。根据交流永磁同步电机(PMSM)机械运动方程,建立了负载转矩辨识数学模型,研究了在同一组PID参数控制下,负载转矩补偿前后系统位置误差的变化。仿真与实验结果均表明,所提出的降阶EKF能有效辨识负载转矩,采用转矩补偿控制后,明显减小了系统中由于负载扰动引起的位置误差,提高了系统的抗负载干扰能力。The unknown load disturbance will affect the dynamic performance of servo system.A method of load torque online identification and compensation based on reduced-order extended Kalman filter（EKF） is adopted to solve this problem.Acordding to permanent magnet synchronous motor（PMSM） mechanical motion equation, the load torque identifi- cation mathematical model is established.Under the same set of PID parameters, the change of position err is studied before and after the load torque compensation.The simulation and experimental results show that the reduced-order EKF can estimate the load torque effectively, and the compensation can reduce the position err obviously and improve the system ability of resisting load disturbance.

关 键 词：滤波器 在线辨识 负载转矩 补偿 

分 类 号：TN713[电子电信—电路与系统]