基于ILC和超螺旋滑模控制的永磁伺服系统扰动抑制研究  

Disturbance Suppression of Permanent Magnet Servo System Based on ILC and Superspiral Sliding Mode Control

作　　者：杨羽萌 朱其新 张拥军 眭立洪 朱永红 YANG Yumeng;ZHU Qixin;ZHANG Yongjun;SUI Lihong;ZHU Yonghong(School of Mechanical Engineering,Suzhou University of Science and Technology,Suzhou Jiangsu 215009,China;Jiangsu Intelligent Integration Robot Engineering Research Center,Suzhou Jiangsu 215009,China;Suzhou Key Laboratory of Coexisting-Cooperative-Cognitive Robot Technology,Suzhou Jiangsu 215009,China;Jiangsu Etern Optical Fiber Technology Co.,Ltd.,Suzhou Jiangsu 215211,China;School of Mechanical and Electronic Engineering,Jingdezhen Ceramic University,Jingdezhen Jiangxi 333001,China)

机构地区：[1]苏州科技大学机械工程学院,江苏苏州215009 [2]江苏省智能共融机器人工程研究中心,江苏苏州215009 [3]苏州市共融机器人技术重点实验室,江苏苏州215009 [4]江苏永鼎光纤科技有限公司,江苏苏州215211 [5]景德镇陶瓷大学机械电子工程学院,江西景德镇333001

出　　处：《机床与液压》2024年第24期155-159,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51875380,51375323);国家自然科学基金地区科学基金项目(62063010);泰州市科技计划项目(TG202117);江苏省研究生科研与实践创新(KYCX24_3418)。

摘　　要：永磁同步电机驱动系统的转速环易受多源扰动的影响,从而导致电机转矩出现波动;永磁同步电机存在未建模动力学等引起的非周期扰动以及电流采样误差引起的周期扰动。针对这一问题,提出一种抑制速度扰动的新方案。使用超螺旋滑模控制器来快速跟踪给定转速的输入曲线;使用扩张状态观测器来抑制非周期扰动并估计系统状态;最后,利用改进的PD型迭代学习控制来抑制周期扰动,并在MATLAB/Simulink中进行了仿真。结果表明:相较于传统的PI控制器,使用该复合控制器的系统具有良好的跟踪能力和抗扰动能力,能有效抑制电机运转时出现的输出转矩波动。The speed loop of the permanent magnet synchronous motor drive system is susceptible to multi-source disturbance,which leads to fluctuation of the motor torque.There are non-periodic disturbances caused by unmodeled dynamics and periodic disturbances caused by current sampling errors in permanent magnet synchronous motor(PMSM).To solve this problem,a new scheme was proposed to suppress speed disturbances.A superspiral sliding mode controller was used to quickly track the input curve for a given speed.An extended state observer was used to suppress the aperiodic disturbance and estimate the system state.Finally,the improved PD-type iterative learning control was used to suppress the periodic disturbance.The simulation results in MATLAB/Simulink show that compared with the traditional PI controller,using the composite controller,the system has good tracking ability and anti-disturbance ability,it can effectively suppress the output torque fluctuation when the motor is running.

关 键 词：永磁同步电机 超螺旋滑模控制 迭代学习 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]