永磁同步电机位置伺服控制系统中的路径规划和跟踪控制  

Path Planning and Tracking Control in Permanent Magnet Synchronous Motor Position Servo System

作　　者：鲁聪[1] 胡金高[1] 

机构地区：[1]福州大学电气工程与自动化学院,福建福州350108

出　　处：《电机与控制应用》2017年第2期23-27,46,共6页Electric machines & control application

基　　金：国家自然科学基金项目(61174051)

摘　　要：在工业数控加工制造中,经常要求永磁同步电机位置伺服控制系统具有高速、平稳、精确的定位性能。针对传统三闭环PI伺服位置控制系统通常难以直接满足高速、平稳、高效的生产要求,提出了运动路径规划和轨迹跟踪控制方法。通过正弦波加速度运动路径规划以提高运动平稳性、减少冲击性、提高可跟踪性;同时,通过基于系统模型的给定修正,实现轨迹接近于无差的跟踪控制,确保系统的整体性能。仿真试验证实了该方法的有效性和对象参数的适应性。The manufacture in industrial CNC often requires the permanent magnet synchronous motor（PMSM） position servo control system with high-speed, smooth and precise positioning performance. As the traditional three closed-loop PI control of the position servo system could hardly meet those requirements, a motion path planning and trajectory tracking control method was proposed. Through the sinusoidal acceleration motion path planning to improve the stability, reduced the impact of the movement, and enhanced the trackability ; at the same time, the performance of overall servo system could be improved and the approximate zero-error tracking control could be realized by using the reference correction based on the servo system model. The simulation results proved that the effectiveness and adaptability of the proposed method.

关 键 词：永磁同步电机 路径规划 跟踪控制 位置伺服控制 

分 类 号：TM351[电气工程—电机]