一种新型的基于状态反馈和前馈的位置控制器.pdfVIP

中国电工技术学会电力电子学会第十一届学术年会 一种新型的基于状态反馈和前馈的位置控制器 郑泽东1 李永东1 Maurice FADEL2 1) 清华大学电机工程与应用电子技术系，北京 100084 2) 法国图卢兹国家理工学院LAPLACE-CNRS 实验室， 图卢兹 31071 1) Email ：zheng99@mails.tsinghua.edu.cn, liyd@tsinghua.edu.cn 2) Email ：fadel@laplace.univ-tlse.fr 摘 要 为了提高交流伺服系统中的位置控制性能，本文提出了一种新型的基于状态反馈和前馈的位置控制器，把传统 的位置控制器和转速控制器合并为一个。建立了控制器的状态方程，通过合适的零极点配置等，可以确定控制器各参数的取 值。 用有限分辨率的机械传感器的测量位置信号，基于扩展Kalman 滤波器的状态观测器可以来准确观测负载转矩、转子 位置和转速。观测的负载转矩可以用作前馈补偿，提高系统在负载变化时的控制性能。以永磁同步电机为例进行了仿真和实 验验证，仿真和实验结果表明：采用该控制器的系统，相对于传统的比例积分微分控制器，位置控制快速准确，超调量很小， 在负载变化时系统仍然能够保持很好的稳定性和控制精度。 关键词 交流电机，位置控制器，状态前馈，负载转矩观测，Kalman 滤波器 A novel position controller based on state feedback and feedforward ZHENG Zedong1 LI Yongdong1 Maurice FADEL2 1) Department of Electrical Engineering, Tsinghua University, 2) Lab. LAPLACE-CNRS, INP Toulouse, France Abstract In order to improve the control performance of the AC servo system, a novel position controller based on state feedback and feedforward is proposed in this paper. The traditional position and speed controllers are combined as a signal one. The state equations of the position controller is built, and the parameters of the controller can be obtained by the selection of zero and pole points. With the measured rotor position by the mechanical sensor with limited resolution, the precious load torque, rotor position and speed can be observed by a state observer based on Kalman filter. The observed load torque can be used as feedforward compensation to improve the control performance during load changes. A permanent magnet synchronous motor (PMSM) is adopted to do the simulation and experimental verification. The results show that in the system with the novel controller, the position control result i