基于扰动观测器的交流伺服系统低速爬行滤波反步控制方法  

Disturbance Observer-Based Filter Backstepping Control with Low Speed Crawling for AC Servo System

作　　者：尹忠刚[1] 靳海旭 张彦平[1] 刘静[1] 马保慧 Yin Zhonggang;Jin Haixu;Zhang Yanping;Liu Jing;Ma Baohui(College of Electrical Engineering Xi’an University of Technology,Xi’an,710048,China;State Key Laboratory of Large Electric Drive System and Equipment Technology,Tianshui,741020,China)

机构地区：[1]西安理工大学电气工程学院,西安710048 [2]大型电气传动系统与装备技术国家重点实验室,天水741020

出　　处：《电工技术学报》2020年第S01期203-211,共9页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金（51677150）;大型电气传动系统与装备技术国家重点实验室（SKLLDJ012016006）资助项目

摘　　要：交流伺服系统运行速度低于某一临界值时,位置会交替出现停滞、滑动,并伴随速度脉动的低速爬行现象。针对交流伺服系统非线性特点,采用反步法设计位置环控制器和速度环控制器,由于在极低速下伺服系统受摩擦力矩、负载扰动以及参数摄动等干扰的影响较大,因此在反步控制的基础上引入扰动观测器,实时观测扰动量并前馈补偿,进一步提高系统的动态性能和抗干扰能力。同时加入滤波环节避免常规反步控制中对虚拟控制量解析求导的繁琐过程以及计算膨胀问题。实验结果表明,基于扰动观测器的交流伺服系统低速爬行滤波反步控制方法具有更好的鲁棒性,在满足系统性能指标的同时,有效地削弱低速爬行对伺服电动机低速运行性能的不利影响。When the running speed of AC servo system is below a critical value,the position will alternate among stasis,slide,and speed fluctuations,which is called low speed crawling.For the non-linear feature of the AC servo system,the position controller and the speed controller are designed by backstepping control method.Due to the impact of friction torque,load disturbance and parameter perturbation at the extremely low speed,the disturbance observer is introduced on the basis of the backstepping control to observe the disturbances and feed forward compensation in real time,so as to further improve the dynamics and anti-interference ability of the system.While adding a filter to avoid the increasing complexity in calculating the analytic derivatives of the virtual control in conventional backstepping method and the calculating inflation problem.The experimental results show that the disturbance observer-based filter backstepping control(DOB-FBC)with low speed crawling for AC servo system has better robustness and it can effectively weaken the low speed crawling adverse influence on the performance of the servomotor running at low speed while meeting the system performance index.

关 键 词：滤波反步控制 扰动观测器 伺服系统 低速爬行 

分 类 号：TM341[电气工程—电机]