摘要
本文研究步进电动机非线性自适应位置控制器的设计问题。采用非线性自适应反馈线性化技术，设计了步进电动机的非线性自适应控制方案。该控制方案包括一个渐进跟踪负载力矩和绕组电阻实际值的非线性辨识算法，当辨识参数收敛到参数的实际值时，该控制器就能实现步进电动机的高精度位置控制。仿真研究表明：所得闭环系统对电动机运行参数的变化和负载干扰具有良好的自适应性，不仅调节精度高，而且动态响应快速，无超调。
This paper deals with the problem of nonlinear adaptive position control of stepping motors. A nonlinear adaptive control scheme is designed using nonlinear adaptive feedback linearization technique. The con- trol algorithm contains a nonlinear identification scheme which asymptotically tracks the true values of the load torque and resistance of each phase winding which are assumed to be constant but unknown. Once those parame- ters are identified,the high accurate position control are realized. The control scheme is shown to be adaptive to parametric variations and external disturbances. The simulation result shows that the stepping motor with pro- posed controller has the characteristic of fast response with no overshoot.
出处
《电气传动》
北大核心
1999年第1期19-21,33,共4页
Electric Drive
关键词
步进电动机
非线性控制
自适应控制
电动机
stepping motors nonlinear control adaptive control feedback linearization position control
