基于ESO+RLS的EMA速度环自适应控制
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摘要
针对机电作动器(EMA)工作过程中伺服性能受内外干扰影响严重的问题,提出了一种速度环自适应控制策略。该控制策略采用扩展状态观测器(ESO)对系统扰动进行估计和前馈补偿。在此基础上,考虑到该ESO的扰动估计性能对电机转子磁链敏感且EMA系统实际工作过程中转子磁链易受温度影响而摄动的情况,使用递推最小二乘法(RLS)对转子磁链进行辨识。最后利用转子磁链的辨识值自动校正ESO的参数,从而设计出速度环自适应控制器。通过仿真分析,对所设计的EMA速度环自适应控制器的可行性和有效性进行验证,仿真结果表明该方法有效可行。
Aiming at the problem that the servo performance of electromechanical actuator(EMA) is severely affected by internal and external disturbances, an adaptive speed control strategy was proposed.This control strategy used the extended state observer(ESO) based technique to estimate the system disturbances and compensate feedforward. The disturbance estimation performance of the ESO is sensitive to the rotor flux.The rotor flux is susceptible to temperature perturbation in the actual working process of the EMA system. A recursive least square(RLS) method was used to identify the rotor flux parameters.The parameters of ESO were automatically corrected by the identified rotor flux value, and the adaptive speed loop controller was designed. The feasibility and validity of the adaptive controller designed were verified by the simulation model established by MATLAB.Simulation results show that this method is effective and feasible.
Aiming at the problem that the servo performance of electromechanical actuator(EMA) is severely affected by internal and external disturbances, an adaptive speed control strategy was proposed.This control strategy used the extended state observer(ESO) based technique to estimate the system disturbances and compensate feedforward. The disturbance estimation performance of the ESO is sensitive to the rotor flux.The rotor flux is susceptible to temperature perturbation in the actual working process of the EMA system. A recursive least square(RLS) method was used to identify the rotor flux parameters.The parameters of ESO were automatically corrected by the identified rotor flux value, and the adaptive speed loop controller was designed. The feasibility and validity of the adaptive controller designed were verified by the simulation model established by MATLAB.Simulation results show that this method is effective and feasible.
引文
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[3]Ohnishi B K.A new servo method in mechatronics trans[C]//Japanese Society of Electrical Engineering.1987.
[4]Ko J S,Han B M.Precision position control of PMSMusing neural network disturbance observer and parameter compensator[J].Journal of Power Electronics,2008,8(4):1313-1319.
[5]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.
[6]Feng G,Liu Y,Huang L.A new robust algorithm to improve the dynamic performance on the speed control of induction motor drive[J].IEEE Transactions on Power Electronics,2004,19(6):1614-1627.
[7]龙国浩,赵东标,吉星宇,等.EMA伺服系统速度环自校正控制设计[J].机械与电子,2015(2):15-19.
[8]Miklosovic R,Gao Z.A robust two-degree-of-freedom control design technique and its practical application[C]//Industry Applications Conference,2004:1495-1502.
[9]Li S,Liu Z.Adaptive speed control for permanentmagnet synchronous motor system with variations of load inertia[J].IEEE Transactions on Industrial Electronics,2009,56(8):3050-3059.
[10]钱鑫,王崇武,于琨琨,等.基于递推最小二乘法的永磁同步电机参数辨识[J].水下无人系统学报,2014,22(6):452-456.