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基于自适应微分跟踪器的位置伺服系统
陆浩1; 胡建华1; 王云宽1; 郑军1; 秦晓飞2
Source Publication中国机械工程
2016-11
Volume27Issue:21Pages:2915-2919
Abstract为兼顾永磁同步电机位置控制的快速响应能力和无超调特性,在分析传统微分跟踪器的基础上,设计了一种自适应微分跟踪控制器.该控制器用微分跟踪器对位置指令安排过渡过程,采用最小二乘法拟合滤波因子h 和输入阶跃脉冲数s 的一次函数关系.此外,该控制器可以在运行过程中根据不
同范围的阶跃信号自适应地选择最优过渡过程参数,实现了对阶跃指令大范围无超调的快速响应.实验结果验证了该控制器的可行性及优越性.
Other Abstract
The general control strategies are often unable to meet the fast response without overshoot for the position control of permanent magnet synchronous motor(PMSM). The proportional-feedfoward position controller could produce overshoot under large step position commands. The tracking-differentior has been adopted to arrange transient process for position commands in order to avoid overshoot based on active disturbance rejection control theory, but the fixed fast factor r and the filtering factor h can reduce the performance of the servo system under the different position step commands. To resolve these problems, the adaptive tracking-differentiator controller is proposed in this paper. The designed controller would arrange transient process for position commands and use the least square method to fit the linear function of a curve of pluse step input s and filtering factor h in transient process. Furthermore, this controller can adaptively choose the optimum parameter of the transient process according to the different curve of pluse step and it can achieve the fast response without overshoot for the wide range of step commands. The experimental results demonstrate the feasibility and advantage of the proposed controller.
Keyword永磁同步电机 位置控制 超调 微分跟踪器 自适应
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14771
Collection09年以前成果
Corresponding Author胡建华
Affiliation1.中国科学院自动化研究所
2.上海理工大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
陆浩,胡建华,王云宽,等. 基于自适应微分跟踪器的位置伺服系统[J]. 中国机械工程,2016,27(21):2915-2919.
APA 陆浩,胡建华,王云宽,郑军,&秦晓飞.(2016).基于自适应微分跟踪器的位置伺服系统.中国机械工程,27(21),2915-2919.
MLA 陆浩,et al."基于自适应微分跟踪器的位置伺服系统".中国机械工程 27.21(2016):2915-2919.
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