基于LQR方法的交流伺服系统参数自整定方法  

Auto-tuning Method of AC Servo System Parameters Based on LQR Method

作　　者：权力 杨晓君[1] 赵万华[1] QUAN Li;YANG Xiao-jun;ZHAO Wan-hua(School of Mechanical Engineering,Xi′an Jiaotong University,Xi′an 710049,China)

机构地区：[1]西安交通大学机械工程学院,西安710049

出　　处：《组合机床与自动化加工技术》2020年第6期94-97,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家科技重大专项(2017ZX04013001);中国博士后科学基金面上项目(2018M633498);陕西省自然科学基金青年项目(2019JQ-394)。

摘　　要：针对永磁同步电机(PMSM)调速系统,基于开环辨识理论,利用增广递推最小二乘参数估计方法,实现对交流伺服系统单惯量模型转动惯量和阻尼的准确辨识。针对伺服系统位置环、速度环级联式闭环控制问题,建立交流伺服系统的数学模型,针对系统性能要求,引入位置环跟随误差及其积分作为新的状态变量构建系统状态空间模型。引入LQR(线性最优二次型调节器)计算系统最优反馈矩阵,根据反馈矩阵与控制器参数的对应关系实现控制器参数的自动整定。该整定方法建立了综合系统控制器参数和其时域性能的状态方程,整定目标直观,计算过程简单且计算量较小,在开放式实验平台上的实验结果也验证了该整定算法的可行性。For the permanent magnet synchronous motor(PMSM)control system,based on the open-loop identification theory,the augmented recursive least squares parameter estimation method is used to realize the accurate identification of the moment of inertia and damping of the single inertia model of the AC servo system.Aiming at the problem of servo system position loop and speed loop cascade closed-loop control,the mathematical model of AC servo system is established.Based on the system performance requirements,the position loop following error and its integral are introduced as the new state variables to construct the system state space model.The LQR(Linear-quadratic regulator)is introduced to calculate the optimal feedback matrix of the system,and the automatic tuning of the controller parameters is realized according to the correspondence between the feedback matrix and the controller parameters.The tuning method establishes the state equation of the integrated system controller parameters and its time domain performance.The tuning target is intuitive,the calculation process is simple and the calculation amount is small.The experimental results on the open experimental platform also verify the feasibility of the tuning algorithm.

关 键 词：交流伺服系统 永磁同步电机 参数辨识 自整定 LQR 

分 类 号：TH165[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]