基于某机构运动控制最优解分析的位置伺服控制算法  

Position Servo Control Algorithm Based on the Analysis of the Optimal Solution of Motion Control of a Mechanism

作　　者：魏鹏远 尹海韬 贾萍 王志业 WEI Pengyuan;YIN Haitao;JIA Ping;WANG Zhiye(Xi’an Aerospace Propulsion Testing Technology Research Institute,Xi’an 710025,China)

机构地区：[1]西安航天动力测控技术研究所,西安710025

出　　处：《微电机》2024年第11期34-39,共6页Micromotors

摘　　要：电机控制位置伺服在航空航天领域的应用比较广泛,无论是飞机、卫星还是火箭,都需要精确、稳定的位置伺服系统来确保其在复杂环境中的稳定运行。该文章基于永磁同步电机d-q轴电压方程和运动方程,分析了电机输出电磁转矩和转子加速度的影响因素,建立了针对于某机构的位置伺服控制的理论最优模型,并在此基础上提出一种针对于该机构的位置伺服控制算法,通过搭建实物实验系统进行实验验证,并分析了电机位置伺服过程的响应速度、伺服精度以及算法的鲁棒性,实验结果表明该算法控制下电机响应速度较快,伺服精度及鲁棒性均满足要求,具有实际工程意义。Motor-controlled position servos have a particularly deep application background in the aerospace field,whether it is aircraft,satellites or rockets,accurate and stable position servo systems are required to ensure their stable operation in complex environments.Based on the d-q axis voltage equation and the equation of motion of the permanent magnet synchronous motor,this paper analyzed the influencing factors of the output electromagnetic torque and rotor acceleration of the motor,established a theoretical optimal model of position servo control for a certain mechanism,and proposed a position servo control algorithm for the mechanism on this basis,which was verified by building a physical experimental system.Finally,the response speed,servo accuracy and robustness of the algorithm were analyzed through experiments,and the experimental results show that the algorithm has practical engineering significance.

关 键 词：位置伺服 永磁同步电机 快速响应 高精度 

分 类 号：TM351[电气工程—电机] TM341[自动化与计算机技术—检测技术与自动化装置] TP272[自动化与计算机技术—控制科学与工程]