| 抗扰动复合非线性伺服控制器的设计与应用 |
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| 引用本文： | 黄新新,程国扬.抗扰动复合非线性伺服控制器的设计与应用[J].航空动力学报,2018,45(1):12-17, 40. |
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| 作者姓名： | 黄新新 程国扬 |
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| 作者单位： | 福州大学 电气工程与自动化学院,福建 福州350116,福州大学 电气工程与自动化学院,福建 福州350116 |
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| 基金项目： | 国家自然科学基金项目(61174051) |
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| 摘 要： | 针对典型的电机伺服系统,提出了一种鲁棒复合非线性伺服控制器的离散域设计方案。把系统的扰动和不确定性归结为一个斜坡信号(其变化率恒定),设计一个降维线性扩展状态观测器,对系统未测量状态和未知扰动加以估计。把设计的控制律应用于永磁同步伺服电机,先在MATLAB上进行仿真分析,随后基于TMS320F28335DSC进行试验测试。结果表明系统在各种类型扰动作用下,对目标位置都能实现快速、平稳和准确的跟踪,具有较好的鲁棒性。
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| 关 键 词： | 伺服电机 观测器 时变扰动 复合非线性控制 离散域设计 |
Design and Application of an AntiDisturbance CompositeNonlinear Servo Controller |
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| HUANG Xinxin and CHENG Guoyang.Design and Application of an AntiDisturbance CompositeNonlinear Servo Controller[J].Journal of Aerospace Power,2018,45(1):12-17, 40. |
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| Authors: | HUANG Xinxin and CHENG Guoyang |
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| Institution: | College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350116, China and College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350116, China |
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| Abstract: | A robust composite nonlinear servo controller design was proposed in discretetime domain for typical motor servo systems. The unknown disturbance and uncertainties in the system were lumped into a ramp signal (with a constant rate of change), and a reducedorder linear extended state observer was designed to estimate the unmeasured state and the unknown disturbance. The controller was then applied to a permanent magnet synchronous motor (PMSM) servo system. MATLAB simulation was first conducted, followed by experimental tests based on a TMS320F28335DSC. The results verify that the system, in the face of a variety of disturbances, was capable of tracking the target positions fast, smoothly and accurately, with a good robustness. |
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| Keywords: | servo motor observer timevarying disturbance composite nonlinear control discretetime design |
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