摘要
针对伺服驱动系统存在不确定、不匹配负载扰动时,传统PI控制和传统滑模控制无法获得较好的控制性能,提出一种新型转矩脉动观测器,对滑模控制的转矩脉动进行抑制。通过对滑模控制器表达式及其控制下负载转矩波形进行分析,得到负载转矩具有周期性脉动的特点;根据永磁同步电动机的转矩方程和运动方程,利用转速值和q轴电流值来估算转矩值,并对估算值进行降噪滤波处理;根据滑模控制转矩脉动特点,提出三点取样法,从降噪后脉动的负载转矩中提取稳定负载转矩值,进而分离出负载转矩的脉动量,形成脉动补偿量,对伺服系统进行前馈补偿处理。仿真及实验验证了从转矩脉动量分离提取角度设计的新型转矩脉动观测器抑制负载转矩脉动的可行性。
When the servo drive system contains umcertainties and mismatch load disturbances,conventional PI control and traditional sliding mode control(SMC)cannot obtain better control performance,a novel torque ripple observer is proposed tolimit torque ripple of sliding mode control.The expression of sliding mode controller and the waveform of the load torque were analyzed under its control,and it was obtained that the characteristic of load torque was periodic pulsation.According to the torque equation and motion equation of the permanent magnet synchronous motor,the torque value estimated by utilizing the speed value and q-axis current value was filtered by noise reduction.According to the characteristics of the SMC torque ripple,the algorithm ofthree point sampling method was proposed to extract stable load torque from the noise reduced load torque and then,the load torque ripple was separated to generate the ripple compensation,which was utilized by feed-forward compensation of the servo system.The results of simulation and experiments demonstrate that the novel torque ripple observer designed form the perspective of separation and extraction with the torque ripple tolimit load torque ripple is feasible.
作者
张志锋
栾鹏
ZHANG Zhi-feng;LUAN Peng(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《微特电机》
2021年第5期47-51,共5页
Small & Special Electrical Machines
关键词
滑模控制
不匹配负载扰动
转矩脉动观测器
降噪滤波
三点取样法
分离提取
前馈补偿
sliding mode control(SMC)
mismatch load disturbances
torque ripple observer
noise reduction filtering
three point sampling method
separation and extraction
feedforward compensation
