基于dSPACE PMSM伺服控制器自适应反步法设计

针对永磁同步电机(Permanent Mmagnet Synchronous Motor，PMSM)绕组相电流和转速强耦合特性和参数的不确定性，利用非线性Backstepping方法设计了自适应积分反步控制器，在补偿参数不确定性影响的同时实现PMSM高性能位置跟踪控制。借助于dSPACE平台，将系统模型下载到实时硬件中进行在线仿真。实时在线仿真结果表明，设计的PMSM控制系统可以获得满意的跟踪效果，其滤波跟踪误差迅速以指数特性收敛到零，具有较好的位置伺服控制特性。

Design and On-line Simulation for the Backstepping Position Controller of PMSM

The Permanent Mmagnet Synchronous Motor(PMSM)is a complicated system with uncertain pa-rameters and the significant nonlinear coupling between its phase winding currents and the rotor velocity.To compensate for parametric uncertainty while yielding global asymptotic position tracking,an adaptive con-troller based on the integrator backstepping method is designed.By means of the dSPACE platform, system model can be compiled into real-time code and downloaded to the hardware to implement on-line simulation. The real-time on-line simulatiion results show that the controller has acquired good position tracking performance and the filtered tracking error goes to zero exponentially fast for electromechanical dynamics.The whole system achieved high performance position servo control characteristic.