文档名：永磁伺服系统转速跟踪控制与数据驱动的参数设计方法
摘要：在永磁伺服控制系统中,传统的转速控制策略在低频段存在幅值与相位偏差问题,降低了转速跟踪控制精度.为解决该问题,该文提出了一种高精度的转速跟踪控制策略与数据驱动的参数设计方法.主要思路是在转速控制环节串联一个滞后-超前补偿器,用以校正低频段的幅值与相位;以低频段补偿后的幅值及相位误差最小为优化目标,同时约束补偿器在全频带范围内的最大幅值增益和相移,设计了一种数据驱动的补偿器参数优化方法,并对补偿后控制系统的性能进行了分析评估.实验结果表明,基于实验数据所设计的补偿器在转速指令频率小于1rad/s的低频段区间内,转速跟踪误差小于2r/min,相较于传统方法控制精度显著提升;在跟踪转速阶跃指令时,该文方法和传统方法的控制效果相当,这说明该文方法在改善低频段跟踪性能的同时,保持了控制系统在中高频段原有的幅频和相频特性.
Abstract：Theservosystemisalsocalledafollow-upsystem,afeedbackcontrolsystemtofolloworreproduceaprocessaccurately.Theposition,orientation,state,andothercontrolledoutputvariablesoftheobjectcanfollowthearbitrarychangesoftheinputtarget(orgivenvalue).Becausetheservosystemcanachieveprecisespeedandpositioncontrolinawiderange,itisgenerallyusedinapplicationsrequiringhighsystemperformance,suchasindustrialproductionandmilitarydefensesecurity.Withtheimprovementinmanufacturingtechnologyofpermanentmagnetmaterials,thepermanentmagnetservosystemhasbeendevelopedrapidly,andthecontrolperformancehasbeenimproved.However,traditionalspeedcontrolstrategiesintheservosystemhaveamplitudeandphasedeviationproblemsinthelow-frequencyband,whichreducestheprecisionofspeedtrackingcontrol.Ahigh-precisionspeed-trackingcontrolstrategyandadata-drivenparameterdesignmethodareproposedtoimprovethespeed-trackingaccuracyoftheservosystemintheentirespeedrange.Firstly,alag-leadcompensatorisconnectedinseriesinthespeedcontrollinktocorrecttheamplitudeandphaseofthelow-frequencyband.Speedtrackingaccuracyisimprovedbymakingthecorrectedamplitudeandphaseshifttendtozero.Secondly,adata-drivenparameteroptimizationdesignmethodisproposedtominimizeamplitudeandphaseerrorsafterlow-frequencycompensationandconstrainthemaximumvaluegainandphaseshiftofthecompensatorinthefull-frequencyband.Thirdly,accordingtosimulationorexperimentaldata,theactualamplitudegainandphaseshiftofthesysteminthelow-frequencybandareobtained,enhancingtheadaptabilityofparameters.Theparametersofthelag-leadcompensatorarecontinuouslyoptimizedbasedonthefeedbackjunction.Thus,thecompensatedamplitudegainandphaseshifthavetheminimummeansquareerror.Comparedwithtraditionalmethods,thedesignedlag-leadcompensatorandparameteroptimizationmethodmatchtheactualsystem,avoidingadverseeffectscausedbyuncertainfactorslikethemismatchofthemomentofinertia.Theexperimentalresultsshowthatthecompensatordesignedbasedonexperimentaldatahasaspeedtrackingerroroflessthan2r/mininthelow-frequencyrangewithaspeedinstructionfrequencyoflessthan1rad/s,significantlyimprovingthespeedcontrolaccuracy.Moreover,thecontroleffectisequivalenttothatofthetraditionalmethodwhentrackingthespeedstepcommand,whichdoesnotaffectthedynamiccharacteristicsoftheservosystem.Theproposedmethodimprovestrackingperformanceinthelow-frequencybandwhilemaintainingtheoriginalamplitude-frequencyandphase-frequencycharacteristicsofthecontrolsysteminthemiddleandhigh-frequencybands.Itisconducivetoimprovingthespeedtrackingaccuracyoftheservosystemintheentirespeedrange,promotingtheengineeringapplicationofpermanentmagnetservosystems.
作者：连传强 郭力源 许观达 肖飞 张伟伟Author：LianChuanqiang GuoLiyuan XuGuanda XiaoFei ZhangWeiwei
作者单位：海军工程大学舰船综合电力技术国防科技重点实验室武汉430033
刊名：电工技术学报
Journal：TransactionsofChinaElectrotechnicalSociety
年，卷(期)：2024, 39(8)
分类号：TM351
关键词：永磁伺服系统 转速控制 滞后-超前补偿器 数据驱动 参数优化
Keywords：Permanentmagnetservosystem speedcontrol lag-leadcompensator data-driven parameteroptimization
机标分类号：TM351TM921.541TP273.2
在线出版日期：2024年4月29日
基金项目：国家自然科学基金，国家自然科学基金，国家重点基础研究发展计划（973计划）永磁伺服系统转速跟踪控制与数据驱动的参数设计方法[
期刊论文] 电工技术学报--2024, 39(8)连传强 郭力源 许观达 肖飞 张伟伟在永磁伺服控制系统中,传统的转速控制策略在低频段存在幅值与相位偏差问题,降低了转速跟踪控制精度.为解决该问题,该文提出了一种高精度的转速跟踪控制策略与数据驱动的参数设计方法.主要思路是在转速控制环节串联一个...参考文献和引证文献
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永磁伺服系统转速跟踪控制与数据驱动的参数设计方法 Speed Tracking Control Strategy and Data-Driven Parameter Design Method of Permanent Magnet Servo System
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