| 引用本文: | 涂群章,黄皓,蒋成明,等.伺服电机积分型SMC速度控制策略.[J].国防科技大学学报,2019,41(2):150-157.[点击复制] |
| TU Qunzhang,HUANG Hao,JIANG Chengming,et al.Integral SMC speed control strategy for servo motor[J].Journal of National University of Defense Technology,2019,41(2):150-157[点击复制] |
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| 伺服电机积分型SMC速度控制策略 |
| 涂群章, 黄皓, 蒋成明, 潘明, 李沛, 薛金红 |
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(陆军工程大学 野战工程学院， 江苏 南京210007)
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| 摘要: |
| 为解决伺服电机控制系统输出转速可控性差、波动大、动态响应慢等问题，提出积分型滑模变结构控制策略，设计负载转矩观测器解决控制过程中的负载扰动问题，基于Simulink搭建永磁同步电机速度控制系统仿真模型，搭建电机测试系统台架对控制系统的稳态性能和动态性能进行试验验证。研究结果表明，相比于传统比例积分微分控制和普通滑模变结构控制(Sliding Mode variable structure Control, SMC)，所设计的控制策略能够使控制系统达到稳态时速度波动较小，鲁棒性较好，抑制了SMC的抖振现象。 |
| 关键词: 永磁同步电机 积分型滑模变结构控制 抖振 负载转矩观测器 |
| DOI：10.11887/j.cn.201902022 |
| 投稿日期：2018-01-22 |
| 基金项目:国家部委基金资助项目（2016YFC0802903）；国家自然科学基金资助项目（61671470） |
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| Integral SMC speed control strategy for servo motor |
| TU Qunzhang, HUANG Hao, JIANG Chengming, PAN Ming, LI Pei, XUE Jinhong |
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(Field Engineering College, Army Engineering University of PLA, Nanjing 210007, China)
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| Abstract: |
| A speed control strategy based on integral sliding-mode was proposed to solve the problems such as poor control, large fluctuation and slow dynamic response of the output speed of servo motor system; the load torque observer was designed to resolve the load disturbance in the control process; the permanent magnet synchronous motor speed control model was established on the basis of the Simulink; the test system of motor was built to test and verify the steady-state performance and dynamic performance of the control system respectively. Experimental results show that, compared with the traditional proportion integration differentiation control and the ordinary SMC(sliding mode variable structure control), the designed control strategy can improve the robustness and rapidity of the system significantly and the chattering phenomenon of SMC control can be inhibited. |
| Keywords: permanent magnet synchronous motor integral sliding mode structure control chattering load torque observer |
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