交流伺服系统最优内模滑模控制器设计与应用

为了实现某火箭炮交流伺服系统的高速、高精度位置控制,针对实际系统中存在的转动惯量和负载力矩变化大、冲击力矩强等特性,提出了一种最优内模滑模控制方法。由基于线性二次型最优控制设计的内模系统来满足交流永磁伺服系统位置环对工作性能的要求,由滑模控制来抑制模型参数摄动和外界干扰的影响,实现高性能位置控制。实验结果表明,该控制方法设计简单,与PID控制相比,具有更好的性能。该方法被证明满足火箭炮交流伺服系统的要求。

Design and Application of Optimal IMC-SMC in AC Servo Systems

To realize high speed and high precision position control in an AC servo system of the rocket mortar,an optimal IMC-SMC is put forward aimed at the characteristics of the varied inertia moment and load moment,and strong impact moment.Internal model system designed by LQR theory can satisfy work performance requests of the position loop in PMSM system.SMC can restrain effects of parameter uncertainties and external disturbance,and can achieve high performance position control.Experimental results show that the control method is simple and has better performances compared with the PID controller.The method is proved to be fit for AC servo system of multiple rocket mortar.