【作者】 杨书生； 钟宜生；

【Author】 Yang Shusheng1,Zhong Yisheng1 1.Department of Automation,Tsinghua University,Beijing 100084,P.R.China

【机构】 清华大学自动化系；

【摘要】 本文针对表贴式PMSM伺服系统提出了一种高精度鲁棒控制器的设计方法。此方法首先利用反馈线性化方法将电动机模型变换为带有等价扰动项的线性模型,然后针对此模型利用基于信号补偿的鲁棒控制原理设计鲁棒控制器。由于电动机伺服系统的一些参数受环境影响变化范围很大,但彼此之间又具有相关性,因此对其建立多工作点模型以减少保守性。本文证明了所设计的闭环控制系统的鲁棒特性,并对其进行了仿真验证。更多还原

【Abstract】 In this paper we propose a high precision robust controller design method for surface mounted PMSM servo system.Feedback linearization method is first applied to transfer the motor plant into a linearized model with an equivalent distur-bance.Then a robust controller is designed to compensate the equivalent disturbance.Although some parameters of the con-trol system may deviate seriously from the nominal value when the environment changes,they have relativity.We set up multi-operating-point model to reduce the conservation.Robust properties of the closed-loop system are proven and simula-tion results are shown.更多还原