基于滤波反步法的三相永磁同步电机伺服控制

Servo control of three-phase permanent magnet synchronous motor based on command filtered backstepping

中文关键词  永磁同步电机  伺服控制  滤波反步法  抗饱和  粒子群优化

英文关键词  permanent magnet synchronous motor (PMSM)  servo control  command filtered backstepping (CFBS)  anti-windup  particle swarm optimization (PSO)

中文摘要

      为解决永磁同步电机的角度伺服控制问题. 基于dq轴坐标系建立的电机控制模型, 采用滤波反步法设计位置伺服控制器, 通过稳定二阶滤波过程逼近虚拟控制量的导数, 避免了常规反步法中对虚拟控制量解析求导的繁琐 过程. 通过设计滤波误差补偿环节, 保证了滤波器输出信号对输入信号的跟踪精度. 基于李雅普诺夫稳定性理论设计鲁棒项, 保证了闭环跟踪误差的稳定性, 并采用粒子群算法对控制器参数进行优化. 最后, 通过仿真实验结果表明了该算法的有效性,且具有较高的跟踪精度.

英文摘要

      To solve the problem of angular servo control of permanent magnet synchronous motor (PMSM). Based on the control model of PMSM expressed in direct-quadrature (dq) coordinate frame, the command filtered backstepping (CFBS) method is employed for controller design, so the derivatives of virtual control variables can be approximated by a stable second-order filter which can avoid the increasing complexity in calculating the analytic derivatives of the virtual control in conventional backstepping method. A filtered error compensation loop is designed to guarantee that the filtered signal can precisely track the reference input signal. The robust schemes are designed through Lyapunov stability analysis with guaranteed stability for the close-loop of tracking errors, while the particle swarm algorithm is adopt for the optimization of controller parameters. Finally, the simulation results are presented to illustrate the effectiveness of the proposed control method with accurate tracking performance.