永磁同步电动机的自适应非线性轨迹跟踪控制

系统地发展了一种基于观测器的永磁同步电动机自适应非线性轨迹跟踪控制系统. 系统中包括负载转矩、负载转动惯量以及电机参数在内的所有参数是不确定的,并且加速度是不可测的.设计的非线性观测器用以估计那些不易测得的状态量.基于Lyapunov稳定理论的设计方法保证了控制系统的稳定性和跟踪误差的收敛性.实验结果证明了该控制系统的稳定性和有效性.

Adaptive Nonlinear Tracking Control of Permanent Magnet Synchronous Motor

In this paper, an observer-based adaptive nonlinear tracking control system for the permanent magnet synchronous motor (PMSM) is systematically developed. All parameters including load torque, inertia and motor parameters are uncertain and acceleration is not measurable. Nonlinear observers are designed to estimate state variables which are not easily measurable. The stability of the control system and the convergence of tracking errors are guaranteed by the Lyapunov theory based design methodology. The experimental results proved the stability and validity of the proposed control system.