永磁同步电机驱动的机械臂能量优化与位置控制  

Energy Optimization and Position Control of Manipulator Driven by PMSM

作　　者：高勋凯 于海生[1,2] 孟祥祥 杨庆 GAO Xunkai;YU Haisheng;MENG Xiangxiang;YANG Qing(School of Automation,Qingdao University,Qingdao 266071,China;Shandong Province Key Laboratory of Industrial Control Technology,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,青岛266071 [2]青岛大学山东省工业控制技术重点实验室,青岛266071

出　　处：《组合机床与自动化加工技术》2024年第5期85-90,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(61573203);山东省自然科学基金项目(ZR2021MF005)。

摘　　要：为了降低永磁同步电机(permanent magnet synchronous motor, PMSM)驱动的机械臂能量损耗和提高位置控制精度,设计了基于反步非奇异快速终端滑模的能量优化控制。将机械臂及其驱动电机被视为一个整体系统来进行控制器设计和能量优化。设计高增益扩张状态观测器(extended state observer, ESO)估计并补偿集总扰动和建模误差。考虑到高增益ESO对测量噪声敏感,设计扩展卡尔曼滤波器(extended Kalman filter, EKF)与ESO结合来降低测量噪声的影响。研究结果表明,能量优化控制可以降低系统能量损耗和稳态误差,具有良好的控制性能。To reduce the energy loss of the permanent magnet synchronous motor(PMSM)driving robotic manipulator and improve the position control accuracy,an energy optimization control based on backstepping nonsingular fast terminal sliding mode was designed.The robotic manipulator and its driving motor are considered as a whole system for controller design and energy optimization.A high gain extended state observer(ESO)is designed to estimate and compensate the lumped disturbances and modeling errors.Considering that high ESO is sensitive to measurement noise,an extended Kalman filter(EKF)is designed to be combined with ESO to reduce the impact of measurement noise.The research results show that energy optimization control can reduce system energy loss and steady-state error,and has good control performance.

关 键 词：能量优化控制 扩张状态观测器 机械臂控制 终端滑模 测量噪声 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]