基于卡尔曼滤波器的交流伺服系统自适应滑模控制

发布时间：2018-05-13 05:10

本文选题：永磁同步电机 + 交流伺服系统　；参考：《光学精密工程》2014年08期

【摘要】：为了减小负载转矩扰动和系统参数摄动对永磁同步电机控制系统的影响,提出了一种基于卡尔曼滤波器的自适应滑模速度控制器。该控制器由自适应律估计参数摄动项,用卡尔曼滤波器估计外部扰动项。设计了含积分作用的滑模面,以保证电机转速的无静差跟踪;采用了指数趋近律,以提高趋近速度并削弱抖振。卡尔曼滤波器估计得到的系统外部扰动前馈补偿至控制器的输出,用于有效降低滑模控制器的不连续切换项造成的系统抖振。实验结果显示:跟踪设定的600r/min转速时,控制器稳态转速精度达到±1r/min。电机在以600r/min稳速运行时,设计的控制器在1.6N·m的外部转矩扰动下的最大转速波动比传统PI控制器的转速波动减小了2%。仿真分析和实验数据表明基于卡尔曼滤波器的自适应滑模控制器对交流伺服控制系统具有较强的抗扰动性、鲁棒性以及良好的稳态性能。
[Abstract]:In order to reduce the influence of load torque disturbance and system parameter perturbation on PMSM control system, an adaptive sliding mode speed controller based on Kalman filter is proposed. The controller uses adaptive law to estimate the parameter perturbation term and Kalman filter to estimate the external perturbation term. A sliding mode surface with integral action is designed to ensure no static error tracking of motor speed and an exponential approach law is adopted to improve the approach speed and weaken the buffeting. Kalman filter estimates the external disturbance feedforward compensation to the output of the controller, which is used to effectively reduce the chattering caused by the discontinuous switching term of the sliding mode controller. The experimental results show that the steady speed accuracy of the controller reaches 卤1 r / min when tracking the set 600r/min speed. When the motor is running at a steady speed of 600r/min, the maximum speed fluctuation of the designed controller under the external torque disturbance of 1.6N m is less than that of the traditional Pi controller. Simulation analysis and experimental data show that the adaptive sliding mode controller based on Kalman filter has strong anti-disturbance robustness and good steady-state performance for AC servo control system.
【作者单位】：中国科学院长春光学精密机械与物理研究所;中国科学院大学;
【基金】：中国科学院长春光学精密机械与物理研究所三期创新工程资助项目(No.065X32CN60)
【分类号】：TM921.541

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