负载估计的PMSM速度指定位置自适应反推控制  

Load-estimated PMSM speed specified position adaptive backstepping control

作　　者：孙宜明 王淑红[1] 王旭平[1] 弋帆 SUN Yiming;WANG Shuhong;WANG Xuping;YI Fan(College of Electrical and Power Engineering,Taiyuan University of Technology,Taiyuan 030024,CHN)

机构地区：[1]太原理工大学电气与动力工程学院,山西太原030024

出　　处：《制造技术与机床》2023年第9期138-145,共8页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金(51477110);中国博士后科学基金(2018M640250)。

摘　　要：随着现代工业数字化发展,机器人等控制技术被重视并飞速发展,其中机械臂作为核心部件,其轨迹跟踪控制尤为重要。永磁同步电机(PMSM)具有快速、准确和稳定的伺服定位功能,逐渐成为机械臂的载体。由于传统伺服位置定位控制难以满足机械臂位置精度高、抗扰动能力强的要求,并存在调节参数多、速度不可控的缺点。针对这些问题,提出负载估计的PMSM指定位置速度跟踪的自抗扰反推控制方法。该方法在实现伺服位置定位的前提下,减少调节参数的数量,增加了速度控制量,增强了控制系统对电机内部参数变化的自抗扰性,同时可以根据机械臂质量的变化进行快速调整,提高位置控制的灵活性和可靠性。通过仿真和实验结果验证,该方法均具有较好的位置定位能力和抗干扰能力,验证了所提策略的有效性和可行性。With the digital development of modern industry,robotics and other control technologies are valued and developed rapidly,of which the robot arm as the core component of the trajectory tracking control is particularly important,permanent magnet synchronous motor(PMSM)with fast,accurate and stable servo positioning function,gradually become the carrier of the robot arm.Since the traditional servo position positioning control is difficult to meet the requirements of high position accuracy and strong anti-disturbance ability of the manipulator,there are also many adjustment parameters and the disadvantages of uncontrollable speed.To solve these problems,this paper proposes a self-anti-disturbance backstepping control method for PMSM specified position-velocity tracking with load estimation.The method reduces the number of control parameters,increases the amount of speed control,enhances the adaptability of the control system to changes in the internal parameters of the motor,and at the same time allows for rapid adjustment according to changes in the mass of the robot arm,improving the flexibility and reliability of position control.Through simulation and experimental results,it is verified that the proposed method has good position positioning ability and anti-interference ability under the condition that the motion trajectory of the manipulator is fixed or fixed,which verifies the effectiveness and feasibility of the proposed strategy.

关 键 词：机械臂 轨迹跟踪 PMSM 反推控制 自适应控制 干扰观测 

分 类 号：TM341[电气工程—电机]