| 引用本文: | 李茂青,刘建强,高锋阳,张廷荣.基于受控拉格朗日函数的永磁同步电动机控制器设计[J].控制理论与应用,2020,37(6):1406~1412.[点击复制] |
| LI Mao-Qing,LIU Jian-qiang,GAO Feng-yang,ZHANG Ting-rong.Stabilization controller design of permanent magnet synchronous motor based on controlled Lagrangians[J].Control Theory and Technology,2020,37(6):1406~1412.[点击复制] |
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| 基于受控拉格朗日函数的永磁同步电动机控制器设计 |
| Stabilization controller design of permanent magnet synchronous motor based on controlled Lagrangians |
| 摘要点击 1484 全文点击 643 投稿时间：2019-09-19 修订日期：2019-12-04 |
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| DOI编号 10.7641/CTA.2020.90786 |
| 2020,37(6):1406-1412 |
| 中文关键词 永磁同步电动机 受控拉格朗日函数法 欠驱动力学系统 位置与速度镇定 |
| 英文关键词 permanent magnet synchronous motor controlled Lagrangians underactuated mechanical systems position and velocity stabilization |
| 基金项目 国家重点研发计划项目(2018YFB1201602??06), 国家自然科学基金地区项目(61164010)资助. |
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| 中文摘要 |
| 本文将基于受控拉格朗日函数(CL)的控制器设计方法应用到高阶、强耦合、非线性的永磁同步电动机
(PMSM)的控制问题中. 利用期望的受控能量来构造受控拉格朗日函数, 并在广义力中引入速度一次项的保守力,
得到原始方程与受控方程相匹配的条件. 通过求解匹配条件中的偏微分方程, 得到的非线性光滑反馈控制律可同时
实现位置与速度的全局渐近镇定. 最后, 利用LaSalle不变定理对其进行证明. 仿真结果表明了控制律的有效性. |
| 英文摘要 |
| In this paper, the controller design method based on the controlled Lagrangians (CL) is applied to control a
high-order, strong coupled, nonlinear permanent magnet synchronous motor (PMSM). The CL is constructed by using the
desired controlled energy, and the conservative force of the velocity term is introduced into the generalized force to obtain
the matching condition of the original equations and the controlled equations. By solving the partial differential equations
in the matching condition, we develop a nonlinear smooth feedback control law which ensures the global asymptotic
stability of position and velocity simultaneously. Finally, the LaSalle invariance theorem is used to prove the stability. The
simulation results show the effectiveness of the control law. |
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