交流电机位置伺服系统的扰动补偿控制

针对交流电机伺服系统在未知负载条件下进行准确位置控制的需求,提出了一种参数化复合控制方案。该方案建立在交流电机磁场定向矢量控制构架的基础上,以转矩电流作为控制信号(电流内环的给定值),以电机转角位置信号作为可量测的系统输出量,设计了基于极点配置的状态反馈与扰动前馈补偿组成的参数化控制律,并利用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。该控制律通过TMS320F28335DSP编程,在一台永磁同步电机伺服系统上进行了实验测试,实验结果验证了伺服系统能在未知负载情况下对各目标位置进行平稳且准确地跟踪。研究结果表明,这种基于扩展状态观测器的复合控制方案可以有效地实现交流伺服系统的高性能位置调节,且对负载幅值和模型参数差异具有较好的鲁棒性。

Disturbance-rejection control of AC motor position servo systems

In order to meet the requirement for accurate positioning in AC motor servo systems with unknown load disturbance, a parameter- ized composite control scheme was proposed. The scheme was based on the field-oriented vector control framework for AC motors. Using the torque-producing current as the control signal（ reference input for inner current loop）, and the motor angular position as the measurable sys- tem output, a parameterized control law was designed, consisting of the pole-placement based state feedback and disturbance feed-forward compensation. A reduced-order linear extended state observer was adopted to estimate the un-measured motor speed and the unknown load disturbance. After software programming in TMS320F28335 DSP, the control law was tested on a permanent magnet synchronous motor （PMSM） servo system, and experimental results verify that the servo system is capable of tracking various target positions smoothly and accu- rately in the face of unknown load disturbance. The results indicate that the proposed composite control scheme with extended state observer can effectively achieve high performance position regulation in AC servo systems, and have a good robustness against the perturbation in load magnitude and model parameter.