基于抗扰增强型广义预测控制的永磁同步电机伺服系统

为了提高永磁同步电机(permanent magnet synchronous motor,PMSM)伺服系统的响应速度及控制精度,提出一种连续时间域下基于抗扰增强型广义预测控制方法.首先,通过构造高阶扩张状态观测器(high-order extended state observer,HOESO)对模型参数摄动及外部不确定性负载扰动进行估计,同时将干扰以及转子角速度的估计信息引入至位置轨迹输出预测序列中,实现对预测模型偏差的修正.进一步,通过求解位置跟随误差性能指标的优化问题,得到最优控制序列的显示解析解,并从理论上给出控制参数的选择规则.最终,利用Lyapunov理论对闭环系统进行严格的稳定性分析,并在快速控制原型(rapid control prototype,RCP)对拖实验平台上进行所提控制算法的性能验证.实验结果表明,与串级PI控制和传统广义预测控制相比,所提方法提高了伺服系统的位置跟踪精度和抗干扰性能.

Permanent magnet synchronous motor servo system based on generalized predictive control with disturbance-rejection enhancement

To improve the response rate and control accuracy of the permanent magnet synchronous motor servo system, this paper proposes a generalized predictive control approach with enhanced disturbance rejection ability in continuous time domain. Firstly, the model parameter perturbations and external uncertain load disturbances are estimated by constructing a high-order extended state observer, and thereby the estimated information of disturbance and rotor angular velocity is introduced into the position trajectory output prediction sequence to realize the correction of the prediction model errors. Furthermore, by solving the optimization problem of the position tracking error performance index, the explicit analytical solution of the optimal control sequence is obtained, and the selection guideline of control gains is theoretically given. Finally, the Lyapunov theory is employed to conduct a rigorous stability analysis of the closed-loop system, and the controller performance is verified by using a rapid control prototype drag loading experimental platform. The experimental results show that, compared with the cascade PI control method and the traditional generalized predictive control method, the proposed control method improves the position tracking accuracy and the disturbance rejection ability of the servo system.