A design method of digital robust speed servo system considering output saturation

When a robust servo system having an integral element has a large error input, it often reveals windup phenomena caused by output saturation. It is very difficult for a strictly proper and high‐order controller to avoid having windup phenomena caused by output saturation. This paper newly proposes the digital robust speed servo system with a complete algorithm for consideration of output saturation. The proposed algorithm completely considers the output saturation of a robust speed controller connected to a PI current controller in series. Moreover, this method can be applied to both a PI speed controller and an H^∞ speed controller. The experimental results show that a robust speed servo system using the proposed algorithm has a good and stable response for a large step speed command. © 2000 Scripta Technica, Electr Eng Jpn, 132(3): 68–78, 2000     

Anti‐windup synthesis for a model predictive control system

In this paper, an anti‐windup design problem for a model predictive control system is studied. The plant is assumed to be stable. First, we propose the structure of an output feedback model predictive controller with an anti‐windup compensator. Then we show a design method of the anti‐windup compensator that guarantees closed‐loop stability and improves the transient response. The design problem of the anti‐windup compensator is reduced to a linear matrix inequality (LMI) optimization problem. Further, it is shown that there always exists an anti‐windup compensator that ensures global asymptotic stability. © 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

航空宽调速交流伺服系统的模糊控制

针对航空宽调速交流伺服系统存在着高的功率密度、低转动惯量,系统必须采用高速、低惯量的永磁同步电动机特殊特点,依据模糊控制理论在宽调速系统中的应用,提出了此系统适用的模糊控制器设计的基本原则和变量的变区间模糊化方法,解决了在该系统的控制中不仅需要保证全调速范围有好的快速性和低的超调量,还要克服因电机非正弦磁场、齿槽效应与功率电路换流产生扰动等问题。经仿真验证了该设计方法的正确性。     

基于单片机的交流伺服电机转速控制系统设计

设计一种单片机控制下的交流伺服电机转速系统,详细介绍它的硬件组成原理及其软件实现过程,实现了对通用交流伺服电机的速度闭环控制。通过对实验结果的分析可以看出,本设计基本达到了系统对伺服电机转速控制的要求。这种方法可以广泛应用于电子机械、纺织机械、印刷机械等诸多行业中。     

二相混合式步进电动机矢量控制伺服系统

推导了二相混合式步进电动机基于磁网络的数学模型,给出了其矢量控制位置伺服系统的结构及仿真结果。同时说明了混合式步进电动机与永磁凸极同步电动机在作用机理上的相似性,指出混合式步进电动机伺服系统可参考凸极永磁同步电动机的控制策略来研究、设计。     

永磁交流伺服系统参数自学习模糊控制器设计与实现

为进一步改善永磁交流伺服系统的动静态性能,设计了一种基于单神经元的参数自学习模糊控制器,它在控制规则数与二维控制器相当的基础上,可实现三维模糊控制的效果。模糊推理方法基于相平面,直接输入连续量进行推理,计算量小。引入的单神经元采用改进的BP算法来实现比例因子的在线自学习。该控制器结构及算法简单,易于解析实现,具有通用性。将其用于永磁交流伺服系统,实验结果验证其控制性能较PI算法更佳,提高了系统的性能。     

An anti‐windup strategy for a feedback control system based on youla parametrization

In this paper, the design strategy of anti‐windup controller (AWC) for feedback control system is proposed. The proposed method is based on Youla parametrization of linear controllers in the framework of left coprime factorization. Conventional anti‐windup controllers have difficulty in optimization of parameters. The suppression effect of windup phenomena can be adjusted easily with the proposed AWC. The effectiveness of proposed method is shown with some numerical and experimental results. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 139(4): 64–70, 2002; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10013     

Application of genetic algorithm to speed servo system and positioning system

This paper considers a genetic algorithm application to feedforward controllers of speed servo and positioning systems. The system consists of a conventional feedback controller and a feedforward controller. The parameters of the feedforward controller are regarded as the chromosome on a gene. The genetic algorithm is used to tune the parameters of the feedforward controller, the objective of which is to make the feedforward controller a dynamic inverse of the plant. The tracking error between the desired output and the actual output at every sampling period is used to calculate the fitness of one gene. The range of mutation is dependent on the magnitude of the tracking error, which ensures parameter convergence. The effect of fitness function and the width of mutation on tracking performances is investigated. The experimental results demonstrate the effectiveness of the proposed genetic algorithm in improving tracking performances.     

模糊控制原理在超声马达定位控制系统中的应用

超声波电机是一种新型的电机，它有许多电磁电机无法比拟的优点，但它的数学模型的强非线性和时变性，使高精度的位置定位非常困难。本文阐述了模糊控制在行波型超声电机位置定位系统中的应用，详细讨论了模糊控制器（双入单出）的设计，并在单向定位系统中进行了初步实验，取得了良好的定位效果。     

基于迭代学习控制的交流伺服系统PI参数自整定

针对交流伺服控制器PI参数自整定方法中,忽略了整定过程的周期性和所需的自学习能力,造成整定过程效率低、重复操作次数多、整定时间长问题,依据迭代学习控制,提出了一种交流伺服系统速度控制器PI参数自整定控制方案,使控制器能够进行仿人操作,根据历史控制经验不断地改进学习增益。仿真和实验结果均验证了方案的有效性,且结构简单,易于实现。     

Robust 2DOF fuzzy gain scheduling control for DC servo speed controller

This paper proposes a new design method called “robust 2DOF fuzzy gain scheduling control” for a DC servo speed control system. The proposed technique utilizes the basic concept of 2DOF robust loop shaping, whose time‐domain specifications are combined during the controller design using a reference model. In addition, the local controllers are fixed‐ structure robust controllers whose structure can be specified as for a simple controller. A fuzzy approach is adopted in both system identification process and global control structure to accomplish an entirely robust system. Although the design of robust control in a fuzzy system is not easy, genetic algorithms (GAs) simplify the control design problem to design the fuzzy controller such that the average stability margin is minimized. Implementation of a DC servo speed control was adopted to investigate the effectiveness of the proposed controller. As seen from the results, the proposed controller has more robust performance and can be adopted in applications with a wide operating range. © 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

基于模糊神经网络算法的交流伺服系统DSP控制

将神经网络与模糊逻辑控制结合起来,设计模糊神经网络控制器应用于交流伺服系统中的转速调节器,克服交流调速系统中参数漂移、非线性和耦合等因素的影响.针对模糊神经网络控制器运算量大、收敛慢的特点,硬件采用数字信号处理器(DSP)作为控制器运算单元,并在DSP上实现模糊神经控制算法,提高了系统实时性.实验结果表明,采用该控制器的调速系统具有较快的响应速度、较高的稳态精度和较强的鲁棒性.     

Design of deadbeat control system using multirate controller and its application to speed control of induction motor

This paper proposes a design method of an optimal deadbeat control system that takes into account the response between the sampling instant. The sequence of the deadbeat control signal that minimizes the quadratic performance index for the manipulated variable and deviation can be obtained easily from the matrix computation using the step response of the system. Then, the series compensation controller and series integral + local feedback compensation controller with fictitious sampler can be designed by using sequence of the control signal. The results of a computer simulation by the present method and application of this method to a speed control system of the inverter-fed induction motor have been studied in order to explore the control effect. The method seems to be useful for practical application. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (1): 83–92, 1997     

Maximum output power control system of variable‐speed small wind generators

This paper proposes a maximum output power control system for variable‐speed small wind generators. The proposed control system adjusts the rotational speed of a single‐phase AC generator to the optimum rotational speed, which yields the maximum output power according to the natural wind speed. Since this adjustment is performed on‐line in order to adapt to variations in wind speed, the rotational speed of the single‐phase AC generator is adjusted by controlling the generated current flowing in an FET (field‐effect transistor) device, serving as the generated power brake, which is linked directly to the single‐phase AC generator. In order to reduce heat loss from the FET device, a PWM (pulse width modulation) controller is introduced. An experimental model of the proposed control system was built and tested, and the validity and practicality of the proposed control system were confirmed by the experimental results. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 165(1): 9–17, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20692     

超低速、高可靠空间二维转台伺服控制系统设计

为了实现空间二维转台在轨高可靠性和低成本的应用,同时具有低速平稳运动、高精度跟踪和360°全范围连续工作等能力,建立了以FPGA芯片为核心的步进电机矢量控制系统,通过电流正弦细分表的PWM斩波调节实现步进电机的128细分精准控制,以21位光电编码器作为位置反馈,谐波减速器作为传动机构,实现了二维转台的开环控制、速度实时...     

Analytical design of PI controller for AQM with robustness adjustability

Based on a linearized TCP/AQMmodel, a new proportional integral (PI) controller design approach is proposed. This analytical approach applies H _∞ optimization and internal model control (IMC) theory to design active queue management (AQM) routers that support transmission control protocol (TCP) flows. The most important feature of the proposed scheme lies in that it can be explicitly tuned with a single parameter for the trade-off between performance and stability of the AQM control system. It is thus flexible and easy to use in design. The proposed method and the designed PI controller are verified and compared with other existing AQM schemes using ns-2 simulator. The results show the advantages of the new PI controller design approach for AQM routers supporting TCP flows. __________ Translated from Journal of Shanghai Jiaotong University, 2007, 41(5): 788–791 [译自: 上海交通大学学报]     

高阶无静差数字伺服系统的ITAE性能指标最优控制

解决了大功率数字伺服系统的技术难点,利用最优控制的原理,设计满足ITAE性能指标的控制系统.结合了PID控制,介绍了数字伺服系统的控制策略.在数学模型的基础上,应用二次型性能指标进行最优控制,来设计该对象的优良动态性能和高阶无静差系统的控制参数.以Matlab为编程环境,进行计算机仿真.系统具有对参数变化敏感、调节速度...     

同步发电机的非线性状态PI附加励磁控制

为解决电力系统的强非线性和不确定性问题，避免反馈线性化励磁控制器由于数学模型的误差而影响控制器性能的缺点，利用非线性状态比例积分PI控制理论设计了同步发电机附加励磁控制器，所得的控制规律与系统运行点和网络结构完全无关，同时控制器本身结构简单。仿真计算表明所设计的附加励磁控制器对系统运行点的变化具有良好的适应能力，可以有效地改善系统的稳定性。     

基于模糊PI的直流电动机调速系统优化设计

以给定的电动机为控制对象,分别运用几种工程设计方法设计了该电动机的控制系统.为进一步提高该电动机的工作性能,采用模糊PI两级复合控制策略.通过Matlab仿真比较了以上各工程设计方法之间的优劣,并证实模糊PI控制方法能使该电动机的动态性能获得很大改善.     

轧机液压伺服位置系统的自适应输出反馈控制

针对具有不可测状态、未知参数和非线性的轧机液压伺服位置系统,提出一种基于高增益观测器和参数估计器的自适应输出反馈控制算法.所构造的高增益观测器不依赖于系统输入和参数估计值,它只用于估计系统状态,所设计的动态反馈控制器包括:用于保证系统稳定性的主反馈部分和抵消外部扰动和一些不确定性的补偿部分.理论分析表明,所提出的控制算法能够保证闭环系统的所有信号有界,且系统状态及其估计误差的最终收敛边界依赖于观测器的高增益值.以某650 mm可逆冷带轧机液压伺服位置系统为例进行仿真,仿真结果验证了所提出算法的有效性.