摘要
为了提高伺服系统定位过程中的动态特性和鲁棒性,提出一种新的时间次优滑模控制器的设计方法。首先,借鉴时间最优控制对伺服定位过程中的系统状态进行规划,得到时间最优的位置和速度响应轨迹,从而保证定位的快速性。其次,针对传统时间最优控制鲁棒性差和工程实现较难等问题,根据期望的时间最优状态轨迹设计非线性滑模面,并采用鲁棒趋近律方法设计滑模控制律,实现了伺服定位的鲁棒时间次优控制,仿真结果验证了该方法的有效性。最后,在永磁同步电机伺服控制器开发平台中进行了实验分析,结果表明所提出的控制方法具有很好的动态响应性能和鲁棒性。
To improve the dynamic characteristics and robustness during servo positioning,a new method is proposed to design proximate time-optimal sliding-mode controller for AC position servo system.Firstly,system state is programmed based on time-optimal control strategy in servo positioning process,which makes sure to obtain time-optimal trajectories of position and velocity.Secondly,the nonlinear sliding surface is designed to track time-optimal state trajectory.Besides,the robust reaching law is used to get sliding-mode control law against the robustness and realization problems for classic time-optimal control.Therefore,the robust proximate time-optimal control is achieved for servo positioning,the validity of which is demonstrated by simulation results.Finally,the presented method is implemented on the developing platform of AC servo controller,experimental results show that the new controller has better dynamic characteristics and robustness.
出处
《测控技术》
CSCD
北大核心
2012年第1期52-56,共5页
Measurement & Control Technology
关键词
交流伺服系统
定位控制
加减速控制
时间次优
滑模控制
鲁棒性
AC servo system
positioning
acceleration and deceleration control
proximate time-optimal
sliding-mode control
robustness
