| 引用本文: | 陈子印,林喆,贾鹤鸣,王鹏.永磁同步电机有限时间预设性能控制[J].控制理论与应用,2021,38(4):479~488.[点击复制] |
| CHEN Zi-yin,LIN Zhe,JIA He-ming,WANG Peng.Finite-time control for permanent magnet synchronous motor with prescribed performance[J].Control Theory and Technology,2021,38(4):479~488.[点击复制] |
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| 永磁同步电机有限时间预设性能控制 |
| Finite-time control for permanent magnet synchronous motor with prescribed performance |
| 摘要点击 2173 全文点击 657 投稿时间：2020-04-26 修订日期：2020-09-12 |
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| DOI编号 10.7641/CTA.2020.00218 |
| 2021,38(4):479-488 |
| 中文关键词 永磁同步电机 有限时间预设性能 有限时间控制 滤波反步法 扰动观测器 |
| 英文关键词 permanent magnet synchronous motor (PMSM) finite-time prescribed performance finite-time control command filtered backstepping disturbance observer |
| 基金项目 国家重点研发计划项目(2016YFB0500702)资助. |
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| 中文摘要 |
| 为实现扰动作用下对永磁同步电机角位置伺服系统的高瞬态和稳态跟踪性能控制, 本文提出一种具有预
设性能约束的有限时间控制方法. 首先, 设计扰动观测器实现对负载力矩扰动的估计与补偿. 其次, 引入有限时间
预设性能函数以保证角跟踪误差的动态性能, 并通过可逆变换将受不等式约束的角位置跟踪误差转换为等效的无
约束误差形式. 然后, 将有限时间指令滤波反步法应用于控制器设计中, 不仅可以避免“微分爆炸”的现象, 而且能
够保证跟踪误差的有限时间内收敛. 最后, 通过仿真实验验证了该算法的有效性和对扰动的鲁棒性. |
| 英文摘要 |
| To achieve high transient and steady-state tracking performance for angular servo control of permanent
magnet synchronous motor (PMSM) under disturbance, this paper proposes a finite-time control method with prescribed
performance. Firstly, the disturbance observer is introduced to estimate and compensate the load torque. Secondly, a finitetime
prescribed performance function is designed to guarantee the dynamical performance for angular tracking error, by
utilizing an invertible transformation, the angular tracking error that subjects to inequality constraint can be transformed into
an equivalent unconstrained one. Thirdly, the finite-time command filtered backstepping is applied for the controller design
which not only can avoid the “differential explosion” phenomenon, but also can ensure the tracking errors converge
in finite-time. Finally, the simulation results are presented to verify the effectiveness of the proposed method and the
robustness against the disturbance. |
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