输出约束的有限时间自适应区间二型模糊输出反馈PMSM伺服控制  

Finite-time adaptive IT2 fuzzy output feedback PMSM servo control based on output constraint

作　　者：刘晏 李前胜 姜彦辰 王永富[1] LIU Yan;LI Qian-sheng;JIANG Yan-chen;WANG Yong-fu(School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;Dalian Power Plant,Huaneng Power International,Inc,Dalian 116100,China)

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819 [2]华能国际电力股份有限公司大连电厂,辽宁大连116100

出　　处：《控制与决策》2024年第4期1212-1222,共11页Control and Decision

基　　金：辽宁省自然科学基金联合基金计划项目(2021KF-11-02)。

摘　　要：针对永磁同步电机驱动的伺服系统在不确定性摩擦和未知负载的影响下难以达到高精度的控制效果,提出一种基于区间二型模糊系统的带有输出约束的有限时间自适应输出反馈控制方案.首先,构建一个基于非线性扰动观测器的区间二型模糊状态观测器,分别完成对于未知扰动和速度的估计,区间二型模糊系统完成对于非线性摩擦的逼近;然后,在此基础上,结合滤波误差补偿机制和有限时间技术,引入障碍Lyapunov函数和反步控制技术设计输出约束的自适应区间二型模糊输出反馈控制器;最后,根据Lyapunov稳定性理论提出严格的稳定性分析,保证闭环系统的所有信号均是有限时间内有界的,并通过数值仿真和实验验证了所提出方法的有效性.A finite-time adaptive output feedback control scheme with output constraint based on an interval type-2 fuzzy logic system(IT2 FLS)is proposed to control the servo system driven by a permanent magnet synchronous motor(PMSM)which is difficult to achieve high-precision control under the influence of uncertain friction and unknown end-load.Firstly,an interval type-2 fuzzy state observer based on a nonlinear disturbance observer is constructed,which can estimate the unknown disturbance and velocity respectively,and the IT2 FLS can approximate the nonlinear friction.On this basis,an adaptive IT2 fuzzy output feedback controller with output constraint is designed by combining filtering error compensation mechanism and finite time technology,introducing the barrier Lyapunov function and backstepping control technology.Finally,according to the Lyapunov stability theory,a strict stability analysis is proposed,which ensures that all signals of the closed-loop system are bounded in finite time.Simulation and real-time experiments verify the effectiveness of the proposed method.

关 键 词：伺服系统 区间二型模糊逻辑系统 障碍Lyapunov 自适应反步控制 永磁同步电机 有限时间控制 

分 类 号：TM341[电气工程—电机]