电动加载系统分数阶迭代学习复合控制

发布时间：2018-06-01 22:12

  本文选题：电动加载系统 + 分数阶PIλDμ　； 参考：《北京航空航天大学学报》2016年09期

【摘要】：针对电动加载系统存在多余力矩扰动的问题,提出一种以位置闭环和力矩闭环为反馈控制、迭代学习控制为补偿控制的复合控制策略。为提高加载系统动态性能及降低建立模型的复杂性,驱动永磁同步电机采用直接转矩控制方式,建立加载系统频域模型。在位置闭环和力矩闭环采用分数阶PIλDμ控制器代替常规PID控制器,迭代学习补偿控制采用分数阶迭代学习控制器,利用分数阶微积分的信息记忆特性提高控制系统的动态性能和鲁棒性,通过理论分析给出分数阶PD型迭代学习控制器的收敛条件。对正弦和梯形波载荷进行力矩加载实验及多余力矩抑制实验,验证了该控制方法的有效性。
[Abstract]:In order to solve the problem of redundant torque disturbance in electric loading system, a compound control strategy is proposed, in which position closed loop and torque closed loop are used as feedback control and iterative learning control as compensation control. In order to improve the dynamic performance of the loading system and reduce the complexity of establishing the model, the direct torque control method is used to drive the permanent magnet synchronous motor, and the frequency domain model of the loading system is established. The fractional Pi 位 D 渭 controller is used to replace the conventional PID controller in the position closed loop and torque closed loop, and the fractional order iterative learning controller is used in the iterative learning compensation control. The information memory property of fractional calculus is used to improve the dynamic performance and robustness of the control system. The convergence conditions of fractional PD type iterative learning controller are given by theoretical analysis. Torque loading experiments and redundant torque suppression experiments on sinusoidal and trapezoidal loads are carried out to verify the effectiveness of the proposed control method.
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本文编号：1965877