具有输入饱和的环形永磁力矩电动机自适应鲁棒控制

摘要

五轴联动数控机床中复合A/C轴直接驱动环形永磁力矩电动机伺服系统在输入饱和情况时易导致系统性能变差,甚至引起系统不稳定.针对系统中的输入饱和问题,基于反步法设计了饱和自适应鲁棒位置控制器,即设计一个虚拟控制律保证误差信号在每一步都收敛且有界.在控制器设计中构建非降函数处理执行器饱和,将控制输入限制在饱和范围内；对于参数不确定性,采用不连续投影算法进行在线参数估计.仿真结果表明该方法不仅使伺服系统在无输入饱和情况下具有较好的伺服性能,输入饱和情况下也能实现良好的跟踪性能.%In high precision five axes module numerical control machine, compound A/C axe direct drive permanent magnet ring torque motor servo system performance may become poor even instable due to input saturation. For the problem of input saturation in servo system, the saturation adaptive robust controller based on backstepping method is designed. A virtual control law is designed to guarantee error signal to be bounded and convergence. Nondecreasing functions are constructed to handle author saturation problem to limit control input, while parameter estimation based on projection algorithm is employed to a-chieve final tracking accuracy. The results of simulation show that the designed method enables servo system to online estimates for uncertainty factors. Simulation result shows that the designed method enables servo system to good servo system performance in normal situation and achieves final tracking accuracy.