电机伺服系统快速自适应抗扰控制

方靖荃; 邓文翔; 姚建勇; 陈久辉; 王鹏飞

doi:10.7652/xjtuxb202106006

您当前的位置：

首页 >

文章列表页 >

电机伺服系统快速自适应抗扰控制

更新时间：2025-07-09

- 电机伺服系统快速自适应抗扰控制
- A Fast Adaptive Disturbance Rejection Control for Motor Servo Systems
- 西安交通大学学报 2021年55卷第6期页码：44-52
- 作者机构：
  
  南京理工大学机械工程学院,南京,210094
- 作者简介：
- 基金信息：
  
  : 2020-11-10。作者简介: 方靖荃(1994—),男,硕士生;姚建勇(通信作者),男,教授,博士生导师。基金项目: 国家自然科学基金资助项目(52075262,51905271);江苏省自然科学基金资助项目(BK20190459)
- DOI：10.7652/xjtuxb202106006
  中图分类号： TH113
- 网络首发：2021-06-10，
  
  纸质出版：2021
- 稿件说明：
移动端阅览
方靖荃, 邓文翔, 姚建勇, 等. 电机伺服系统快速自适应抗扰控制[J]. 西安交通大学学报, 2021,55(6):44-52.

A Fast Adaptive Disturbance Rejection Control for Motor Servo Systems[J]. 2021, 55(6): 44-52.
方靖荃, 邓文翔, 姚建勇, 等. 电机伺服系统快速自适应抗扰控制[J]. 西安交通大学学报, 2021,55(6):44-52. DOI： 10.7652/xjtuxb202106006.

A Fast Adaptive Disturbance Rejection Control for Motor Servo Systems[J]. 2021, 55(6): 44-52. DOI： 10.7652/xjtuxb202106006.

摘要

为实现电机伺服系统在参数不确定性和未建模干扰共同作用下的高精度运动控制

提出一种基于有限时间参数估计的快速自适应抗扰控制(FADRC)方法。针对参数不确定性

通过引入一阶低通滤波运算和辅助中间变量

构造一种由跟踪误差、参数估计误差和系统状态估计误差复合驱动的新型参数自适应律

实现未知参数的在线快速更新; 针对未建模干扰

设计扩张状态观测器(ESO)进行估计并由前馈项补偿; 此外

借助反馈鲁棒项保证系统整体鲁棒性。基于Lyapunov稳定性理论的分析表明

所提出的控制方法可保证快速的参数估计性能和优异的跟踪控制效果。搭建了电动伺服实验平台进行测试

测试结果表明:相比基于传统自适应律的控制方法

所提出的新型控制方法的参数估计收敛速度提高约80%

跟踪误差最大值减小约13.8%。该方法可为实际机电系统的高精度伺服控制和快速参数辨识提供参考。

Abstract

A fast adaptive disturbance rejection control method(FADRC)based on finite-time parameter estimation is proposed to realize high precision motion control of motor servo systems under the combined effect of parameter uncertainties and unmodeled disturbances. For parameter uncertainties

a novel parameter adaptation law driven by a combination of tracking error

parameter estimation error and system state estimation error is constructed by introducing first-order low-pass filtering operations and auxiliary intermediate variables to realize the fast online updating of unknown parameters. For unmodeled disturbances

an extended state observer(ESO)is designed to estimate them and compensate them with a feedforward term. In addition

the overall robustness of the system is ensured by the feedback robust term. Analysis based on Lyapunov stability theory shows that the proposed control method can guarantee fast parameter estimation performance and excellent tracking control effect. An electric servo experimental platform is built to test its effectiveness and superiority. Test results and a comparison with the traditional adaptation law-based control method show that the proposed novel control method improves the convergence speed of parameter estimation by about 80% and reduces the maximum tracking error by about 13.8%. This method can provide reference for high precision servo control and fast parameter identification of practical electromechanical systems.

关键词

Keywords

references

赵峰, 罗雯, 高锋阳, 等. 考虑滑模抖振和扰动补偿的永磁同步电机改进滑模控制 [J]. 西安交通大学学报, 2020, 54(6): 34-41.

ZHAO Feng, LUO Wen, GAO Fengyang, et al. An improved sliding mode control for PMSM considering sliding mode chattering and disturbance compensation [J]. Journal of Xi'an Jiaotong University, 2020, 54(6): 34-41.

徐会风, 苏少平, 杜庆诚. 一种新型零矢量的二三导通无刷直流电机直接转矩控制系统研究 [J]. 西安交通大学学报, 2020, 54(4): 85-92.

XU Huifeng, SU Shaoping, DU Qingcheng. A novel direct torque control system with new zero vector for two-three conduction brushless DC motors [J]. Journal of Xi'an Jiaotong University, 2020, 54(4): 85-92.

顾万里, 胡云峰, 张森, 等. 有刷直流电机自适应滑模控制器设计与实验 [J]. 西安交通大学学报, 2017, 51(9): 112-117.

GU Wanli, HU Yunfeng, ZHANG Sen, et al. Design and experiments on the adaptive sliding mode controller of brushed DC motor: assessment [J]. Journal of Xi'an Jiaotong University, 2017, 51(9): 112-117.

王敏林, 董雪明, 任雪梅, 等. 多电机驱动系统的保性能鲁棒Funnel控制 [J]. 控制理论与应用, 2020, 37(3): 91-101.

WANG Minlin, DONG Xueming, RENXuemei, et al. Optimal robust guaranteed cost funnel control for multi-motor driving system [J]. Control Theory and Application, 2020, 37(3): 91-101.

YAO Jianyong, JIAO Zhongxia, YAO Bin. Robust control for static loading of electro-hydraulic load simulator with friction compensation [J]. Chinese Journal of Aeronautics, 2012, 25(6): 954-962.

王悍枭, 刘凌, 吴华伟. 改进型滑模观测器的永磁同步电机无传感器控制策略 [J]. 西安交通大学学报, 2016, 50(6): 104-109.

WANG Hanxiao, LIU Ling, WU Huawei. A sensorless permanent magnet synchronous motor control strategy for improved sliding mode observers with stator parameters identification [J]. Journal of Xi'an Jiaotong University, 2016, 50(6): 104-109.

黄帅, 王昕, 王振雷. 一类非线性多变量系统的多模型自适应控制 [J]. 控制理论与应用, 2020, 37(4): 829-836.

HUANG Shuai, WANG Xin, WANG Zhenlei. Multiple model adaptive control for a class of nonlinear multivariable systems [J]. Control Theory and Application, 2020, 37(4): 829-836.

DENG Wenxiang, YAO Jianyong, MA Dawei. Adaptive control of input delayed uncertain nonlinear systems with time-varying output constraints [J]. IEEE Access, 2017, 5: 15271-15282.

YAO Bin, TOMIZUKA M. Smooth robust adaptive sliding mode control of manipulators with guaranteed transient performance [J]. Journal of Dynamic Systems Measurement and Control, 1996, 118(4): 1176-1180.

YAO Bin, TOMIZUKA M. Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form [J]. Automatica, 1997, 33(5): 893-900.

GAO Zhiqiang, HUANG Yi, HAN Jingqing. An alternative paradigm for control system design [C]∥40th IEEE Conference on Decision and Control. Piscataway, NJ, USA: IEEE, 2001: 4578-4585.

GUO Baozhu, ZHAO Zhiliang. Active disturbance rejection control for nonlinear systems: an introduction [M]. Hoboken, NJ, USA: John Wiley Sons, 2016: 1-50.

侯利民, 任一夫, 徐越, 等. 基于NESO的永磁同步电机滑模自抗扰控制 [J]. 控制工程, 2019, 26(1): 50-54.

HOU Limin, REN Yifu, XU Yue, et al. Sliding mode active disturbance rejection control of PMSM based on NESO [J]. Control Engineering, 2019, 26(1): 50-54.

YAO Jianyong, DENG Wenxiang. Active disturbance rejection adaptive control of uncertain nonlinear systems: theory and application [J]. Nonlinear Dynamics, 2017, 89(3): 1611-1624.

YAO Jianyong, DENG Wenxiang. Active disturbance rejection adaptive control of hydraulic servo systems [J]. IEEE Transactions on Industrial Electronics, 2017, 64(10): 8023-8032.

GAO Zhiqiang. Scaling and parameterization based controller tuning [C]∥2003 American Control Conference. Piscataway, NJ, USA: IEEE, 2003: 4989-4996.

ZHENG Qing, GAO L Q, GAO Zhiqiang. On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics [C]∥46th IEEE Conference on Decision and Control. Piscataway, NJ, USA: IEEE, 2007: 3501-3506.

NA Jing, MAHYUDDIN M N, HERRMANN G, et al. Robust adaptive finite-time parameter estimation and control for robotic systems [J]. International Journal of Robust and Nonlinear Control, 2015, 25(16): 3045-3071.

闵颖颖, 刘允刚. Barbalat引理及其在系统稳定性分析中的应用 [J]. 山东大学学报(工学版), 2007, 37(1): 51-55,114.

MIN Yinyin, LIU Yungang. Barbalat lemma and its application in analysis of system stability [J]. Journal of Shandong University(Engineering Science), 2007, 37(1): 51-55,114.

BHAT S P, BERNSTEIN D S. Continuous finite-time stabilization of the translational and rotational double integrators [J]. IEEE Transactions on Automatic Control, 1998, 43(5): 678-682.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

压力脉冲测试系统滑模抗干扰控制方法

制冷系统自抗扰解耦控制

压缩式制冷系统预测自抗扰控制

有载分接开关驱动轴转动位置的闭环反馈抗扰控制策略

面向永磁同步电机负载转矩观测的自抗扰改进滑模控制