基于单向滑模的永磁同步电机摩擦自适应控制
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摘要
针对摩擦条件下永磁同步电机伺服系统的高精度位置控制问题进行了研究。利用单向滑模控制算法和广义麦克斯威尔滑动(GMS)摩擦模型,设计了具备摩擦前馈补偿功能的力矩控制器,对GMS模型的参数进行了自适应调节以补偿摩擦力变化。通过设计适当的趋近率,使得该控制器在保证系统稳定的同时,产生连续的期望电流信号,消除了普通滑模带来的抖振问题,同时采用反步法反推控制电压获得了保证系统总体稳定的控制信号。最后的仿真实验结果表明,提出的方法有利于提高摩擦条件下永磁同步电机控制的控制精度。
High-precision position control of permanent magnet synchronous motor servo system is studied under the condition of friction. A torque controller for friction feedforward compensation is designed by using the sliding mode control with unidirectional auxiliary surfaces(USMC) algorithm and the GMS model. The parameters of the GMS friction model are online adjusted to compensate the variety of friction. The torque controller guarantees the bounded stability of the system and keeps continuous by appropriate design. The backstepping algorithm is used to solve the unmatched problem between controlling voltage and disturbance torque. Simulation results show that the proposed method can improve control accuracy for PMSM under the friction condition.
High-precision position control of permanent magnet synchronous motor servo system is studied under the condition of friction. A torque controller for friction feedforward compensation is designed by using the sliding mode control with unidirectional auxiliary surfaces(USMC) algorithm and the GMS model. The parameters of the GMS friction model are online adjusted to compensate the variety of friction. The torque controller guarantees the bounded stability of the system and keeps continuous by appropriate design. The backstepping algorithm is used to solve the unmatched problem between controlling voltage and disturbance torque. Simulation results show that the proposed method can improve control accuracy for PMSM under the friction condition.
引文
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[13]Al-Bender F,Lampaert V,Swevers J.The generalized Maxwellslip model:A novel model for friction simulation and compensation[J].IEEE Transactions on Automatic Control,2005,50(11):1883-1887.
[2]杨松,马岩,苏宝库.机械轴承控制系统中的摩擦补偿[J].中国惯性技术学报,2011,19(6):749-753.Yang Song,Ma Yan,Su Bao-ku.Friction compensation in mechanical bearing control system[J].Journal of Chinese Inertial Technology,2011,19(6):749-753.
[3]Mostefai L,Denai M,Hori Y.Robust tracking controller design with uncertain friction compensation based on a local modeling approach[J].IEEE/ASME Transactions on Mechatronics,2010,15(5):746-756.
[4]侯志宁,颜富强,邓志雄,等.基于滑模的潜艇无人直升机悬停控制[J].中国惯性技术学报,2014,22(5):640-643.Hou Zhi-ning,Yan Fu-qiang,Deng Zhi-xiong,et al.Sliding mode control for small unmanned helicopter in hover[J].Journal of Chinese Inertial Technology,2014,22(5):640-643.
[5]Zhou Xuan,Li Shi-Hua.On friction and disturbance compensation based control design for PMSM servo system[C]//Proceedings of the 29th Chinese Control Conference.Beijing,China,2010:6077-6082.
[6]Lascu C,Trzynadlowski A M L.Combining the principles of sliding mode,direct torque control,and space-vector modulation in a high performance sensorless AC drive[J].IEEE Transactions on Industry Applications,2004,40(1):170-177.
[7]Barambones O,Alkorta P.A robust vector control for induction motor drives with an adaptive sliding-mode control law[J].Journal of the Franklin Institute,2011,348:300-314.
[8]Krstic M,Kanellakopoulos I,Kokotovic P.Nonlinear and adaptive control design[M].New York:Wiley,1995.
[9]Swaroop S,Hedrick J K,Yip P P,et al.Dynamic surface control for a class of nonlinear systems[J].IEEE Transactions on Automatic Control,2000,45(10):1893-1899.
[10]Fu Jian,Wu Qing-xian,Chen Wen-hua,et al.Chatteringfree condition for sliding mode control with unidirectional auxiliary surfaces[J].Transactions of the Institute of Measurement and Control,2013,35(5):593-605.
[11]傅健.近空间飞行器非线性飞控系统鲁棒性控制[D].南京:南京航空航天大学,2013.Fu Jian.Robust sliding mode control for near space vehicle[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2013.
[12]Yu Jin-peng,Shi Peng,Dong Wen-jie Dong,et al.Neural network-based adaptive dynamic surface control for permanent magnet synchronous motors[J].IEEE Transactions on Neural Networks and Learning Systems,2015,26(3):640-645.
[13]Al-Bender F,Lampaert V,Swevers J.The generalized Maxwellslip model:A novel model for friction simulation and compensation[J].IEEE Transactions on Automatic Control,2005,50(11):1883-1887.