基于LuGre摩擦模型与自抗扰技术的调速伺服系统复合控制策略  

Composite Control Strategy of Speed Regulation Servo System Based on LuGre Friction Model and Self-Disturbance Rejection Technology

作　　者：张凯雯 苏璟 黄浩 褚越强 李万军 韦雪洁 ZHANG Kaiwen;SU Jing;HUANG Hao;CHU Yueqiang;LI Wanjun;WEI Xuejie(School of Electronic and Control Engineering,North China Institute of Aerospace Engineering,Langfang 065000,China;Beijing Aerospace Xinli Technology Co.,Ltd.,Beijing 100089,China)

机构地区：[1]北华航天工业学院电子与控制工程学院,河北廊坊065000 [2]北京航天新立科技有限公司,北京100089

出　　处：《电机与控制应用》2023年第10期46-53,61,共9页Electric machines & control application

基　　金：河北省高等学校科学研究项目(ZC2022006);北华航天工业学院校重点基金项目(ZD202203);北华航天工业学院国防创新基金项目(GFCXJJ-2023-03)。

摘　　要：为了提高调速伺服系统的跟踪性能,提出了一种基于LuGre模型的调速伺服系统自抗扰控制策略。利用LuGre摩擦模型对摩擦扰动进行辨识,并对其进行前馈补偿,在速度环和电流环分别加入一阶自抗扰控制器,对剩余扰动进行实时估计并补偿。ADRC弥补了摩擦模型的非绝对完美的问题,LuGre模型也缓解了ADRC的计算压力,互为补充,提高了性能。仿真结果表明:所提控制策略响应速度快、调节时间短、超调低,提高了系统的控制速度和精度。In order to improve the tracking performance of the speed regulation servo system,a self-disturbance rejection control strategy of the speed regulation servo system based on the LuGre model is proposed.Using the LuGre friction model to identify the frictional disturbance,and feed-forward compensation,adding the first-order self-disturbance rejection controller to the speed loop and the current loop respectively,the remaining disturbance is estimated and compensated in real time.ADRC makes up for the non-absolute perfection of the friction model,and the LuGre model also relieves the computational pressure of ADRC,complements each other and improves performance.The simulation results show that the proposed control strategy has fast response speed,short adjustment time and low overshoot,which improves the control speed and accuracy of the system.

关 键 词：永磁同步电机 LuGre摩擦模型 自抗扰技术 双闭环系统 

分 类 号：TM341[电气工程—电机]