基于Narendra稳定自适应控制器交流伺服电机的控制

交流伺服电机在实际运行的过程中负载的变化,负载的变化导致控制系统参数发生改变,如系统的频率、阻尼等。针对这些本身参数发生的变化系统,变化较小时,简单的控制器对控制结果影响不大,但控制很难对其变化进行调节控制,人工智能控制器可自动适应负载的变化,而神经网络、模糊控制等,但这些控制器存在结构复杂,调整时间长等,实际应用中得不到很好的应用。利用自适应控制设计方法,将系统转换成线性的可控系统,并引入不确定参数构造控制器的自适应估计律,实时对未知参数进行调整,保证整个闭环系统的动态品质。为提高系统的动态控制品质,引入Narendra稳定自适应控制器对交流伺服电机控制进行控制,利用不同的输入信号对控制进行测试,结果表明,Narendra稳定自适应控制器对交流伺服电机控制系统具有良好的控制性能。

Research on the Control of AC Servo Motor Based on Narendra Adaptive Controller

The load in AC servo motor will be fluctuated in actual operation process,and then the change of loads would cause the change of control system parameters,such as the system frequency,damping,etc. Changes of these parameters of the system have little effect on the control results,such as the simple controller PI,however,it is difficult to adjust the change in control process; the artificial intelligent controller can automatically adapt to the changes of load,but the controllers,like the neural network,fuzzy control,have complex structure,and need long adjustment time,thus it cannot greatly used in practical application. In this paper,the system is converted into a controllable linear system by using the adaptive control method,and the self-adaptive estimation law with uncertain parameters is introduced to the system in order to adjust the unknown parameters in real time,and guarantee the dynamic quality of the whole closed loop system. To improve the quality of dynamic control system,the AC servo motor control is obtained by the introduction of Narendra adaptive controller,and the control tests is taken by using different input signals. The results show that,Narendra self-adaptive controller has good control performance on the AC servo motor control system.