永磁环形力矩电机期望补偿自适应鲁棒控制

针对复合A/C轴直接驱动永磁环形力矩电机伺服系统易受外部扰动、参数不确定性以及齿槽转矩的影响,为实现高性能控制和准确参数估计,设计了根据期望轨迹构造自适应律的期望补偿自适应鲁棒位置控制器。该期望补偿自适应律只需根据期望轨迹,采用不连续参数投影算法对系统不确定性进行离线估计。与常规自适应鲁棒控制器相比,该控制器降低了测量噪声对系统的影响,实现参数估计过程更快且参数估计值更加精确。仿真结果表明该方法不仅使伺服系统具有较好的暂态性能,而且提高了系统的最终跟踪精度。

Desired Compensation Adaptive Robust Control for Permanent Magnet Ring Torque Motor

For the characteristics of compound A/C axes direct drive permanent magnet ring torque motor servo system being influenced by varying of external disturbance,parameters varieties and cogging torque,the desired compensation adaptive robust position controller based on projection algorithm is designed to achieve high performance and parameters estimation.The desired compensation adaptation law based on projection algorithm for uncertainties off-line estimation is calculated by desired trajectory information only to achieve the final tracking accuracy.Compared with adaptive robust controller,the controller can reduce the effect of measurement noises.Therefore the process of uncertainties estimation is faster and the estimators are more accurate.Simulation result shows that the designed method enables servo system to better transient performance and improves final tracking accuracy in general.