有刷直流电机自适应滑模控制器设计与实验

发布时间：2018-01-24 19:26

本文关键词： 有刷直流电机扰动观测器自适应滑模控制器 Lyapunov稳定性　出处：《西安交通大学学报》2017年09期 　论文类型：期刊论文

【摘要】：为了提高有刷直流电机低速控制的精确性,设计了基于扰动补偿的有刷直流电机转速自适应滑模控制器。首先,针对转速模型中摩擦力在转速快速变化过程中体现的快变特性和在线估计困难的特点,采用Stribeck稳态摩擦力模型,通过离线辨识模型参数的方式计算摩擦力;其次,针对负载扭矩等扰动的慢变特性,设计了扰动观测器对其进行在线估计,并证明了估计误差的有限时间收敛性及有界性;最后,设计了自适应滑模控制器对扰动进行补偿和误差反馈校正,进而实现精确的转速跟踪控制,并在Lyapunov稳定性框架下证明了闭环系统的稳定性。该控制器的开关增益仅与扰动观测器估计误差的上界相关,避免了一般滑模控制方法采用高增益来提高控制精度的问题,从而能够大大减小系统输入抖振现象,有利于工程实现。所提方法的稳态误差分别为PI、传统滑模控制器稳态误差的46%、63%,响应时间在0.15s以内,远小于PI、传统滑模控制器的响应时间,通过正弦参考信号跟踪实验,验证了所提方法在瞬态工况下具有很好的控制效果。实验结果表明,所设计的控制器能有效抑制摩擦力及负载扰动对电机控制带来的影响,能显著改善电机控制的稳态和瞬态性能,并且该方法能大大减小控制输入的抖振问题。
[Abstract]:In order to improve the accuracy of low speed control of brushless DC motor, an adaptive sliding mode controller based on disturbance compensation is designed. Aiming at the fast changing characteristic of friction force in the speed model and the difficulty of on-line estimation, Stribeck steady state friction model is adopted. The friction force is calculated by off-line identification of model parameters. Secondly, the disturbance observer is designed to estimate the load torque and other disturbances, and the finite time convergence and boundedness of the estimation error are proved. Finally, the adaptive sliding mode controller is designed to compensate the disturbance and correct the error feedback to achieve accurate speed tracking control. The stability of the closed-loop system is proved under the framework of Lyapunov stability. The switching gain of the controller is only related to the upper bound of the estimation error of the disturbance observer. The problem of using high gain to improve the control precision is avoided in the general sliding mode control method, which can greatly reduce the chattering phenomenon of the system input and is beneficial to the engineering implementation. The steady-state error of the proposed method is Pi respectively. The steady-state error of the traditional sliding mode controller is 46 / 63 and the response time is within 0.15 seconds, which is much smaller than that of PI.The response time of the traditional sliding mode controller is tracked by the sinusoidal reference signal. The experimental results show that the proposed controller can effectively suppress the influence of friction and load disturbance on motor control. The steady and transient performance of motor control can be improved significantly, and the buffeting problem of control input can be greatly reduced by this method.
【作者单位】：吉林大学汽车仿真与控制国家重点实验室;吉林大学通信工程学院;吉林大学工程仿生教育部重点实验室;
【基金】：国家自然科学基金资助项目(61520106008,61374046)
【分类号】：TM33;TP273
【正文快照】： 有刷直流电机具有力矩系数大、过载能力强、可靠性高等优点,在移动机器人等领域得到了广泛的应用[1]。但是,电机系统中固有的非线性摩擦以及负载扭矩等扰动,给有刷直流电机低速的精确控制带来很大的困难[2]。因此,如何抑制电机系统的扰动给转速控制带来的影响,已经成为一个研

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