伺服系统状态反馈切换控制策略研究  

Research on State Feedback Switching Control Strategy of Servo System

作　　者：杨衡 张倩[1,2] 王群京[1,3] 符梦虎[1] 刘超辉 宋金星 YANG Heng;ZHANG Qian;WANG Qunjing;FU Menghu;LIU Chaohui;SONG Jinxing(School of Electrical Engineering and Automation,Anhui University,Hefei Anhui 230601,China;National Engineering Laboratory of Energy-saving Motor&Control Technique,Anhui University,Hefei Anhui 230601,China;Power Quality Engineering Research Center,Ministry of Education,Anhui University,Hefei Anhui 230601,China)

机构地区：[1]安徽大学电气工程与自动化学院,安徽合肥230601 [2]安徽大学高节能电机及控制技术国家地方联合工程实验室,安徽合肥230601 [3]安徽大学教育部电能质量工程研究中心,安徽合肥230601

出　　处：《机床与液压》2024年第4期63-70,共8页Machine Tool & Hydraulics

摘　　要：针对伺服系统参数的不确定性问题,提出一种以速度为切换信号的切换控制策略。利用伺服电机离线数据得到非线性Bode图,根据频域特性变化区间划分系统速度区域;以速度指标作为切换条件,在模拟退火算法中引入平坦性计算,对各子系统进行参数辨识,构建伺服系统的切换模型,并解决了切换系统出现的抖振问题;最后,在给定切换条件下,设计切换模型各子系统控制器,形成基于状态观测器的反馈控制策略,保证闭环切换系统的渐近稳定性。结果表明:所提控制策略优化了系统的响应曲线,其跟踪精度提升了约4%。In order to solve the parameter uncertainty of the servo system,a switching control strategy with speed as the switching signal was proposed.The nonlinear Bode diagram was obtained using the offline data of the servo motor.The speed region of the system was divided according to the change interval of the frequency domain characteristics.Taking the speed index as the switching condition,flatness algorithm was introduced into simulated annealing algorithm to identify the parameters of each subsystem,and the switched mod⁃el was established,the vibration problem of the switching system was solved.Finally,based on the state observer,the controllers of each subsystem of the switched model were designed to form the feedback control strategy for any switching under given conditions.The as⁃ymptotic stability of the closed-loop switching system was guaranteed.The results show that,compared with the traditional PID,the pro⁃posed control strategy optimizes the response curve of the system,and its tracking accuracy is improved 4%.

关 键 词：伺服系统 切换模型 切换控制策略 状态反馈控制 

分 类 号：TM383.4[电气工程—电机]