电机位置伺服控制器的参数化设计及试验比较

为在伺服电机上实现准确的位置调节,提出了基于扩展状态观测器的鲁棒复合伺服控制和带误差积分的线性反馈控制方案,并以闭环阻尼和自然频率等作为设计参数,给出了全参数化的离散时域控制律。控制律在1台永磁同步电机上进行了试验测试。结果表明鲁棒复合控制在较大范围的位置目标和负载转矩下实现准确的点位运动,瞬态性能良好；而基于积分的线性反馈控制当目标位置或负载发生变化时伺服性能出现明显恶化,缺乏鲁棒性。

Parameterized Design of Motor Position Servo Controllers withExperimental Comparison

To achieve accurate position regulation on servomotors, two control schemes were proposed, i.e., robust composite servo control based on extended state observer (ESO), and linear feedback control with integration of error. Using the damping ratio and natural frequency of the closedloop poles as design parameters, fullyparameterized control laws were presented in discrete time domain. The control laws were applied to a permanent magnet synchronous motor for experimental test. The results showed that the ESObased robust composite servo control could accomplish accurate setpoint motion for a wider range of target positions under various load conditions, with a desirable transient performance. In comparison, the integrationbased linear feedback control had a degraded servo performance when the target position or the load was varied, indicating a lack of robustness.