【摘要】 为提高无刷直流电机(BLDCM)位置伺服系统的动静态性能,提出了一种基于最优线性二次调节(LQR)策略的控制器设计方法.控制器由最优LQR、模糊控制器和滑模自适应调节器组成.依据状态变换和Lyapurnov稳定性定理,通过离线计算得到二次型优化控制初始值作为模糊控制器输入,由滑模自适应调节系统模糊参数降低Lyapurnov目标函数.对所设计的控制器分别作了空载、带负载及改变电机参数的仿真试验.仿真实验结果表明,该方法设计的控制器明显增强了无刷直流电机位置伺服系统的动静态性能、抗干扰能力和鲁棒性.控制输出能快速平稳地跟随参考位置信号.更多还原

【Abstract】 To improve dynamic and static performance of brushless direct circuit motor(BLDCM) position servo system,a new controller design method based on optimum linear quadratic regulator(LQR) strategy was proposed.The controller was composed of optimum LQR,fuzzy controller and sliding mode adaptive regulator.According to status transform and Lyapunov stability theory,optimum LQR initial value obtained by off-line computation was taken as the fuzzy controller input,and system fuzzy parameters were regulated by adaptive sliding mode to decrease the Lyapunov objective function.Experiments on the proposed controller were simulated under idle load,load and changing motor parameters.The simulation results show that the controller designed by the proposed method obviously improves the dynamic and static performance,ability of disturbance rejection and robustness of the BLDCM position servo system.The position output tracks the reference position rapidly and smoothly.更多还原