机电伺服系统重复学习控制器设计
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摘要
设计了一种p+A-Type ILC位置环重复学习控制器,并成功应用于某一需求高速高精度实时控制的机电伺服系统中,伺服控制技术采用经典的基于转子磁场定向的矢量控制技术,速度环控制器和电流环控制器采用经典的PI控制器,位置环采用p+A-Type ILC控制器,其中p控制器用于随机干扰的抑制,AType ILC用于伺服作动器重复往返运动以及固有的偏心质量等时变非线性负载的负载惯量和有规律干扰的补偿,并进行了与经典P位置控制器的对比试验验证。实验结果表明:采用本项目的控制器使得位置超调比采用P控制系统降低了50%,实现了高速高精度的实时控制,满足了伺服系统时变非线性负载下的不同工况需求,系统鲁棒性大大提高。
In order to achieve the fast response and high precision performance of electromechanical servo system,a new p + A-Type ILC position regulator is designed. The electromechanical servo system adopts novel vector control algorithm based on Rotor flux orientation and three closed loops including position loop,speed loop and current loop. Both the speed loop and current loop adopt PI controller,and the position loop adopts p + A-Type ILC controller including P controller and A-Type ILC controller,P controller is used to strengthened the inhibition capability of the system against random interference signal. A-Type ILC controller is used to do servo system Reciprocating movement inertia and changing load torque and Regular interference compensation. Finally,the experimental results between the Basic P Controller and p + A-Type ILC controller are compared. Experimental results show that overshoot of the algorithm proposed is 50 percent less than the traditional P controller,the designed servo system has realized fast response and high precision real time control and good system robustness.
In order to achieve the fast response and high precision performance of electromechanical servo system,a new p + A-Type ILC position regulator is designed. The electromechanical servo system adopts novel vector control algorithm based on Rotor flux orientation and three closed loops including position loop,speed loop and current loop. Both the speed loop and current loop adopt PI controller,and the position loop adopts p + A-Type ILC controller including P controller and A-Type ILC controller,P controller is used to strengthened the inhibition capability of the system against random interference signal. A-Type ILC controller is used to do servo system Reciprocating movement inertia and changing load torque and Regular interference compensation. Finally,the experimental results between the Basic P Controller and p + A-Type ILC controller are compared. Experimental results show that overshoot of the algorithm proposed is 50 percent less than the traditional P controller,the designed servo system has realized fast response and high precision real time control and good system robustness.
引文
[1]李兵强,吴春,林辉.基于参考输入学习的永磁同步电机高精度位置伺服系统[J].中国电机工程学报,2012,32(3):96-102.(Li Bingqiang,Wu Chun,Lin Hui.A High-precision Position Servo System of Permanent Magnet Synchronous Motors With Reference Input Iterative Learning[J].Proceedings of the CSEE,2012,32(3):96-102.)
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[7]Chen M Y,Lu J S.High-precision Motion Control for a Linear Permanent Magnet Lron Core Synchronous Motor Drive in Position Platform[J].IEEE Transactions on Industrial Informatics,2014,10(1):99-108.
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[10]Stephan J,Bodson M,Chiasson J.An Adaptive Method for Induction Motor Control[C].American Control Conference.San Francisco,USA:American Automatic Control Council&International Federation of Automatic Control,1993:655-659.
[11]夏超英.交直流传动系统的自适应控制[M].机械工业出版社,1998.
[12]Chen Boshi.Automation Control System for Electric Drive Motion Control System[M].The Third Edition.Beijing.China Machiine Press.2003:200-205.
[13]Texas Instruments,Implementation of Vector Control for PMSM Using the TMS320F240 DSP[S].Literature Number:SPRA494,1998.
[2]Madady A.An Extend PID Type Iterative Learning Control[J].International Journal of Control,Automation,and Systems,2013,11(3):470-481.
[3]Bifaretti S,Tomei P,Verrelli C M.A Global Robust Iterative Learning Position Control for Current-fed Permanent Magnet Step Motors[J].Automatica,2011,47(1):227-234.
[4]Huang Deqing,Xu Jianxin,Venkatakrishnan Venkataramanan,et al.High-performance Tracking of Piezoelectric Positionin Stage Using Current-cycle Iterative Learning Control with Gain Scheduling[J].IEEE Transactions on Industrial Electronics,2014,61(2):1085-1097.
[5]赵希梅,郭庆鼎.基于扰动观测器和重复控制器的永磁直线同步电动机鲁棒控制[J].中国电机工程学报,2010,5(25):64-69.(Zhao Ximei,Guo Qingding.Robust Control Based on the Disturbance Observer and Repetitive Controller for Permanent Magnet Linear Synchronous Motor[J].Proceedings of the CSEE,2010,5(25):64-69.)
[6]于少娟,齐向东,吴聚华.迭代学习控制理论及应用[M].北京:机械工业出版社,2005.
[7]Chen M Y,Lu J S.High-precision Motion Control for a Linear Permanent Magnet Lron Core Synchronous Motor Drive in Position Platform[J].IEEE Transactions on Industrial Informatics,2014,10(1):99-108.
[8]陈伯时.交流调速系统[M].机械工业出版社,1998.
[9]葛宝明,蒋静坪.永磁同步电动机传动系统的模型算法控制[J].中国电机工程学报,1999,19(10):27-31.(Ge Baoming,Jiang Jingping.Model Algorithmic Control For Permanent Magnet Synchronous Motor Drive[J].Proceedings of the CSEE,1999,19(10):27-31.)
[10]Stephan J,Bodson M,Chiasson J.An Adaptive Method for Induction Motor Control[C].American Control Conference.San Francisco,USA:American Automatic Control Council&International Federation of Automatic Control,1993:655-659.
[11]夏超英.交直流传动系统的自适应控制[M].机械工业出版社,1998.
[12]Chen Boshi.Automation Control System for Electric Drive Motion Control System[M].The Third Edition.Beijing.China Machiine Press.2003:200-205.
[13]Texas Instruments,Implementation of Vector Control for PMSM Using the TMS320F240 DSP[S].Literature Number:SPRA494,1998.