无位置传感器的永磁同步电动机反演控制

设计了一种基于无位置传感器的永磁同步电动机(PMSM)反演控制器.该控制器包括基于定子电流检测的速度观测器与反演速度控制器.速度观测器代替位置传感器实现转速的在线估计;反演控制器的设计确保速度控制系统具有快速的转速跟踪与转矩响应.通过设计全局Lyapunov函数保证了控制系统的稳定性.仿真和试验结果表明:基于速度观测器...     

基于滑模观测器的直线伺服系统反馈线性化速度跟踪控制

在许多高速、高精的直线伺服系统中,要求能实现对速度的快速精确跟踪,但其模型的非线性和变量间的耦合给控制带来难度.对高速、高精速度跟踪控制中,电流和速度的变化过程在时间尺度上相对接近,不能简单地采用磁场定向矢量控制方法实现静态解耦,否则电流和速度间的非线性耦合将破坏速度跟踪品质.采用状态反馈线性化方法来实现永磁直线同步电动机(PMLSM)模型的精确线性化和动态解耦.利用非线性坐标变换和非线性反馈将系统解耦成独立的线性电流子系统和速度子系统.通过扩展滑模观测器来实现对所需要的动子速度、加速度和负载扰动的鲁棒观测.并利用李雅普诺夫理论对由反馈线性化和滑模观测器构成的非线性闭环系统的稳定性进行了证明.仿真结果表明该方案使PMLSM伺服系统具有良好的鲁棒速度跟踪性能.     

基于永磁同步电机的LPV转速观测器设计

针对提高永磁同步电机无位置传感器速度跟踪控制精度问题,提出了一种基于线性变参数(Linear Parameter Varying,LPV)转速观测器设计方法。该方法借助状态估计实现对旋转坐标系下定子电流、转子角转速等状态的重构。首先根据LPV电机模型,推导出观测器的LPV状态模型方程,然后根据Lyapunov稳定性理论,获得闭环系统的稳定性条件,再利用奇异值分解方法,将Lyapunov稳定性条件转化为线性矩阵不等式条件,通过求解不同凸胞形顶点处的观测器增益矩阵,最终合成反馈增益,实现对电机的高精度的速度跟踪控制。仿真结果表明,该观测器能够快速准确的跟踪上电机转速。     

遗传算法优化的神经网络无速度传感器DTC系统

利用异步电动机的定子电压方程和磁链方程构造神经网络速度观测器来获得电动机的转速,观测器简单易行,通过遗传算法来优化神经网络的权值,使神经网络的权值达到最优。最后通过Matlab仿真,验证了系统设计的有效性和可行性。     

智能观测器在伺服系统控制中的应用

研究优化伺服控制系统策略,永磁同步电动机( PMSM)的伺服系统优化,可改善电动机系统的稳定性和响应特性.通过提高伺服系统定位精度和抗干扰能力,有效保证机器运行效率.针对传统有速度传感器矢量控制增加了系统复杂度和成本的问题,为优化伺服系统控制结构,提出了一种采用神经网络观测器的伺服系统无速度传感器矢量控制策略.系统中不需要安装传感器来检测PMSM转子位置/速度信号,而是利用神经网络观测器从电机反电动势信号中估算转子位置/速度,从而优化了系统整体结构,减小了系统复杂度.通过对PMSM的伺服系统无速度传感器矢量控制系统的建模与仿真测试,结果表明,所设计的神经网络观测器能够准确估算转子位置/速度,控制系统能够精确跟踪给定转速指令,改进了伺服系统优化控制问题,为实际应用提供了参考.     

感应电机转矩跟踪无源控制及自适应观测器设计

针对感应电机高性能转矩跟踪控制和磁链难以直接测量问题,提出了基于无源性的转矩跟踪和自适应磁链观测器控制方案.首先基于感应电机的无源性特性设计了渐近稳定转矩跟踪控制器,重新配置了系统的平衡点,通过注入阻尼提高系统的收敛速度.然后通过将定子电流和转子磁链作为状态变量构建了自适应磁链观测器,简化了观测器结构,根据Lyapunov稳定性理论设计了自适应控制律,实现转子磁链、转速和定子电阻的在线估计.为减小转速估计误差对观测器的影响,给出了观测器增益矩阵的选择方法.仿真结果表明本文所提出的基于自适应观测器的无源控制方案能够有效提高感应电机的动静态性能.     

感应电动机的无速度传感控制

提出了一种简洁快速的感应电动机的无速度传感控制方法. 该方法利用一种新型的观测器获得精确的速度与磁通的模的估计, 然后设计了二阶控制器. 在不考虑同步转速为零且负载转矩不可测的个别工程条件下, 证明了该方法能够全局稳定的跟踪转子的给定参考速度和参考磁通. 数值仿真进一步验证了所提出控制方法的有效性.     

基于LPV观测器的永磁同步电机反推控制

针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)无速度传感器转速跟踪控制精度问题,提出了一种基于线性变参数(Lineeo Parameteo Varying,LPV)转速观测器的永磁同步电机反推控制方法。该方法首先根据PMSM的LPV模型,推导出电机的凸胞形顶点方程;然后利用Lyapunov稳定性理论,获得了基于线性矩阵不等式(Lineeo Matrix Inequality,LMI)的观测器设计方法,构造了PMSM的LPV观测器,实现对电机转速及定子交轴电流的重构;最后运用反推控制策略,设计电机闭环系统控制器,实现对电机转速的高精度跟踪控制。仿真结果表明,该方法相较与传统PI矢量控制,跟踪精度高、响应快、抗负载扰动强,对实现PMSM的无速度传感器高精度转速跟踪控制具有重要意义。     

基于速度反馈的直流电动机复合控制方法

针对传统的直流电动机控制系统存在响应速度慢、抗干扰能力差的问题,提出了一种基于干扰观测器和速度观测器的直流电动机复合双环控制方法。该方法在直流电动机PID控制中加入前馈控制、干扰观测器和速度观测器。前馈控制用于提高系统的响应速度和跟踪特性;干扰观测器将外部力矩干扰及电动机模型参数变化造成的实际对象与名义模型的输出差异,等效到控制输入端,即观测出等效干扰,在控制中引入等效补偿,实现对干扰的完全抑制;速度观测器是将系统的转矩指令和实际速度作为输入,利用观测和滤波功能,得到一个不包含高频成分且不滞后于实际电动机速度的观测速度来代替实际速度,作为速度反馈信号。仿真结果表明,该方法具有很好的鲁棒性,降低了因测量噪声带来的电动机振动现象及速度和位置跟踪误差。     

双转永磁无刷直流电动机低速控制研究

针对电动机低速运行时,传感器精度低导致的速度测量误差,引起转速和转矩波动问题,对电动机机械系统设计了全维速度观测器,在Matlab/Simulink仿真平台上,采用PI调节器与速度观测器相结合的控制方法建立了双转无刷直流电动机系统仿真模型。仿真结果表明系统在低速运行时,转速和转矩波动明显减小,证明了控制方法的有效性和优越性。     

On-line constructive fuzzy sliding-mode control for voice coil motors

In this paper, a voice coil motor (VCM) featuring fast dynamic performance and high position repeatability is developed. To achieve robust VCM control performance under different operating conditions, an on-line constructive fuzzy sliding-mode control (OCFSC) system, which comprises of a main controller and an exponential compensator, is proposed. In the main controller, a fuzzy observer is used to on-line approximate the unknown nonlinear term in the system dynamics with on-line structure learning and parameter learning using a gradient descent algorithm. According to the structure learning mechanism, the fuzzy observer can either increase or decrease the number of fuzzy rules based on tracking performance. The exponential compensator is applied to ensure the system stability with a nonlinear exponential reaching law. Thus, the chattering signal can be alleviated and the convergence of tracking error can be speed up. Finally, the experimental results show that not only the OCFSC system can achieve good position tracking accuracy but also the structure learning ability enables the fuzzy observer to evolve its structure on-line.     

Synchronization and Tracking Control for Dual‐motor Driving Servo Systems with Friction Compensation

A nonsingular fast terminal sliding mode (NFTSM) controller is designed by incorporating the variable gain neural network (NN) observer, which is utilized to guarantee motor speed synchronization and load position tracking of dual‐motor driving servo systems. By designing the variable gain NN observer, the states and uncertain nonlinearities of servo systems are estimated with fast convergence rate and small steady‐state error, where the effects from external disturbance are suppressed as well. Based on the estimated states, the cross‐coupling synchronization strategy and NFTSM tracking scheme are designed to achieve the rapid speed synchronization and precise load tracking, where the NNs are introduced to approximate and compensate friction nonlinearities. In particular, a novel nonlinear synchronization factor characterizing the degree of speed synchronization is proposed to achieve switching between synchronization control and tracking control, which is proven to deal with the coupling problem of synchronization and tracking. Finally, the comparative simulations and experiments are included to verify the reliability and effectiveness.     

基于广义预测控制和扩展状态观测器的永磁同步电机控制

在电动汽车等工况复杂的系统中,实现永磁同步电机驱动系统的快响应和强鲁棒性控制历来是研究的重点和难题.预测控制策略可实现快速的动态响应,但依赖电机的数学模型.本文结合广义预测控制理论和扩展状态观测器,提出了一种新型的永磁同步电机转速跟踪控制方法.首先基于连续时间非线性系统的广义预测控制方法,设计了速度跟踪控制器;然后针对外部扰动引起的电机性能下降问题,设计了扩展状态观测器估计系统扰动,通过对扰动量的补偿,提高了鲁棒性;而且控制器参数容易调节.试验结果表明,电机从静止到1000 r/min,与PI控制相比,超调量小,响应速度快.特别是在电机运行过程中外加负载扰动时,转速跌落更小,且更快的恢复到给定值.     

基于扰动观测器补偿的机械臂非奇异快速终端滑模控制

针对机械臂系统在实际应用中存在的建模误差及未知扰动问题, 设计了一种基于扰动观测器的改进型非 奇异快速终端滑模控制策略. 通过扰动观测器准确估计系统存在的总扰动, 并设计恰当的非线性增益函数使扰动观 测误差指数收敛, 实现了对控制器的前馈补偿. 考虑到终端滑模存在的奇异性问题, 结合扰动观测器设计了非奇异 快速终端滑模控制器, 在保证跟踪误差有限时间收敛的同时抑制了滑模控制固有的抖振现象. 同时在控制器设计过 程中, 用fal函数代替sig函数有利于削弱滑模控制抖振, 提高系统稳定性及跟踪精度. 最后, 利用MATLAB软件进行 实验仿真, 验证了所设计控制器的有效性.     

An Adaptive and Optimized Switching Observer for Sensorless Control of an Electromagnetic Valve Actuator in Camless Internal Combustion Engines

In this paper, the design and operation of a special electromagnetic actuator as a variable engine valve actuator are presented. Further, this paper describes a feasible approximated velocity switching estimator based on measurements of current and input voltage to achieve sensorless control. The proposed concept allows a reduced‐order observer to be conceived and yields a specific control strategy with an acceptable performance. In general, this approach represents a viable strategy to build reduced‐order observers for estimating the velocity of systems through the measurement of input current and voltage. The robustness of the velocity tracking is explored using a minimum variance approach. The effect of the noise is minimized, and the position can be achieved through an adaptive and optimized structure by combining this particular velocity estimator and an observer based on the electromechanical system. Position control is achieved through an inversion of the model. This approach avoids a more complex structure for the observer and yields an acceptable performance as well as eliminating bulky position‐sensor systems. In addition, a control strategy is presented and discussed. Computer simulations of the sensorless control structure are presented in which the positive effects of the observer with optimized parameter setting are visible in the closed‐loop control.     

Robust proximate time-optimal servomechanism with speed constraint for rapid motion control

A control scheme is proposed to achieve fast and accurate set-point servo motion in typical double integrator systems subject to disturbances and speed constraint. The controller consists of a Proximate Time-optimal Servomechanism (PTOS) control law and a compensation term for the unknown disturbance. An extended state observer is adopted to estimate the un-measured velocity signal and the unknown disturbance. In the presence of speed constraint, a speed regulation stage is incorporated between the PTOS acceleration and deceleration stages. The closed-loop stability is analyzed theoretically. The control scheme is then applied to the position-velocity control loop in a permanent magnet synchronous motor servo system for set-point tracking. MATLAB simulation has been conducted, followed by experimental verification based on the TMS320F2812 DSP controller board. The results confirm that the proposed control scheme can track a wide range of target references fast and accurately, and has good performance robustness with respect to the disturbance and parameter variations.