| 交流伺服电机速度与位置环的一体化鲁棒控制 |
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| 引用本文：程国卿，胡金高.交流伺服电机速度与位置环的一体化鲁棒控制[J].计算技术与自动化,2013,(4):23-27 |
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| 中文摘要:提出一种交流伺服系统的离散域复合控制方案,可实现在未知负载条件下的准确位置控制。基于永磁同步电机伺服系统中位置与速度环组成的数学模型，以电机转角位置作为系统的测量反馈信号，设计一个降阶线性扩展状态观测器对电机转速（未量测）和未知负载扰动加以估计，并用于反馈控制和扰动补偿。采用TMS320F2812DSP在一台实际的永磁同步电机上进行了实验测试，结果表明伺服系统能在未知负载情况下实现平稳和准确的目标位置跟踪，且对负载和参数差异具有较好的鲁棒性。这种控制方案可方便地应用于相关的伺服系统。 |
| 中文关键词:伺服电机 观测器 扰动 复合控制 离散域设计 |
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| Unified Robust Control of the Speed-position loop in AC Servo Motor |
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| Abstract:A discrete-time composite control scheme is proposed to achieve accurate servo positioning in AC motor servo systems with unknown load disturbance. The scheme is based on the mathematical model of the position-speed loop in permanent magnet synchronous motor (PMSM) servo system, with the motor angular position as the only measurable feedback signal. A reduced-order linear extended state observer is adopted to estimate the un-measured motor speed and the unknown load disturbance for feedback control and compensation. Experimental tests using the TMS320F2812 DSP have been conducted on a real permanent magnet synchronous motor (PMSM), and the results verify that the servo system is capable of tracking the target position smoothly and accurately in the face of unknown load disturbance, with a good robustness against the load magnitude and parameter perturbation. The control scheme can be easily applied to relevant servo systems. |
| keywords:servo motor observer disturbance composite control discrete-time design |
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