基于LQSF的伺服系统速度调节器的设计与研究

本文针对按经典控制理论设计的速度调节器和实际运行结果出入大的问题，提出用二次型性能指标最优调节器(LQSF)的设计思想，实现永磁同步伺服系统(PMSM)的速度环调节器的设计。通过适当调节状态变量的加权矩阵，使相应状态变量满足控制要求，性能指标最优。对于速度调节过程中的饱和，设计采用Bang-Bang控制来实现过渡过程响应时间的最小化。在电机速度阶跃过程中，设置较大的限幅力矩，可以使系统有更快的响应，更小的响应时间。仿真和实验证实了本文所做设计的有效性。

Design and Research on The Speed Regulator of Servo System Based on Linear Quadratic State Feedback

Aiming at the problem that the speed regulator parameters designed by classical control theory were very different from that used in practical, the design of speed regulator of Permanent Magnet Synchronous Servo System (PMSM) was put forward, by means of Linear Quadratic State Feedback(LQSF). With the help of properly modulating the weighted matrix of state variable, the corresponding variable could meet the demand of system control and the performance specification would be excellent. When the speed regulator became saturation, the Bang-Bang control method was applied to reduce response time of transitional process. The maxim limit torque was set when motor speed was jumping, so that the response of system can be quickened and the response time can be shortened. The differential coefficient of motor speed was imported to speed regulating, as a result of which the overshoot of speed was depressed obviously. Both numerical simulation and experiment results showed that the approaches adopted in this paper were valid.