基于ESO+RLS的EMA速度环自适应控制  

Adaptive Speed Control Based on ESO+RLS for EMA Speed Loop

作　　者：陈斌[1] 赵东标[1] 孙磊[1] 袁骁涵 CHEN Bin;ZHAO Dongbiao;SUN Lei;YUAN Xiaohan(College of Mechanical and Electronic Engineering,Nanjing University of Aeronautics andAstronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械与电子》2019年第4期48-51,共4页Machinery & Electronics

基　　金：国家自然科学基金(51175261);高等学校博士学科点专项科研基金(20123218110020);国家重点基础研究发展计划973计划资助项目(2014CB046501)

摘　　要：针对机电作动器(EMA)工作过程中伺服性能受内外干扰影响严重的问题,提出了一种速度环自适应控制策略。该控制策略采用扩展状态观测器(ESO)对系统扰动进行估计和前馈补偿。在此基础上,考虑到该ESO的扰动估计性能对电机转子磁链敏感且EMA系统实际工作过程中转子磁链易受温度影响而摄动的情况,使用递推最小二乘法(RLS)对转子磁链进行辨识。最后利用转子磁链的辨识值自动校正ESO的参数,从而设计出速度环自适应控制器。通过仿真分析,对所设计的EMA速度环自适应控制器的可行性和有效性进行验证,仿真结果表明该方法有效可行。Aiming at the problem that the servo performance of electromechanical actuator(EMA) is severely affected by internal and external disturbances, an adaptive speed control strategy was proposed.This control strategy used the extended state observer(ESO) based technique to estimate the system disturbances and compensate feedforward. The disturbance estimation performance of the ESO is sensitive to the rotor flux.The rotor flux is susceptible to temperature perturbation in the actual working process of the EMA system. A recursive least square(RLS) method was used to identify the rotor flux parameters.The parameters of ESO were automatically corrected by the identified rotor flux value, and the adaptive speed loop controller was designed. The feasibility and validity of the adaptive controller designed were verified by the simulation model established by MATLAB.Simulation results show that this method is effective and feasible.

关 键 词：机电作动器 自适应控制 速度环 扩展状态观测器 转子磁链辨识 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]