摘要
为提高永磁无刷直流电机的控制精度、负载工作能力和响应速度,分析了电机的电气特性与机械特性,建立了连续时间系统下状态空间形式的电机模型,得到了电机转角、转速受控变化的规律;在离散时间控制系统中,采用了状态转移模型预测和估计系统误差,根据电机转动规律反演控制指令,提出了一种基于模型预测与反演,对电机转速、转角进行独立/联合控制的方法;在考虑工程实际应用中电机存在参数、测量等误差的情况下,与PID控制、滑模控制方法进行了负载情况下典型工况的对比仿真。仿真表明:所设计的控制器具有较好的控制精度、响应速度和鲁棒性。
In order to improve the control accuracy,working ability with load and response speed of permanent magnet brushless DC motor,the electrical and mechanical characteristics of the motor are analyzed,the state space model of the motor in continuous-time system is established,and the changing rules of motor rotation angle and speed under control are obtained. In the discrete-time control system,the state transition model is used to predict and estimate the system error,and the control instructions are inverted according to the motor rotation law. A method is proposed based on model predictive and inversive control for independent or joint control of motor speed and rotation angle.Considering the errors of parameters and measurements of motor in practical engineering application,the typical working conditions with load are simulated by comparing with the PID control and sliding mode control method. The simulation results show that the designed controller has better control accuracy,response speed and robustness.
作者
谭天乐
尹俊雄
周恒杰
郑翰清
TAN Tianle;YIN Junxiong;ZHOU Hengjie;ZHENG Hanqing(Shanghai Aerospace C-ontrol Technology Institute,Shanghai 201109,China;Shanghai Key Laboratory of Space Intelligent C-ontrol Technology,Shanghai 201109,China)
出处
《上海航天（中英文）》
CSCD
2020年第6期125-129,142,共6页
Aerospace Shanghai（Chinese&English）
基金
上海市自然科学基金(19ZR1423200)。
关键词
无刷直流电机
状态转移
模型预测与反演控制
离散时间控制系统
广义逆变换
brushless DC motor
state transition
model predictive and inversive control
discrete-time control system
generalized inverse transform
