永磁同步电机伺服系统高精度自适应鲁棒控制-信息与控制.PDFVIP

42 1 Vol.42, No.1 2013 2 Information and Control Feb., 2013 DOI 10.3724/SP.J.1219.2013.00132 210094 PMSM PMSM TP13 A 1002-0411(2013)-01-0132-06 High Accuracy Adaptive Robust Control for Permanent Magnet Synchronous Motor Systems DU Renhui WU Yifei CHEN Wei CHEN Qingwei ( School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China) Abstract: An adaptive robust controller based on non-linear backstepping method is developed for permanent magnet synchronous motors (PMSM) servo system with unknown parameters and load torque and other uncertainties. Other un- certainties including modeling errors and outside interference are considered in the system model, and then robust feedback control is added to inhibit influnce of the uncertainties on system performance effectively and realize high accuracy position tracking for PMSM system. It can be ensured by theoretical analysis that the position tracking error converges exponentially. Simulations show that the proposed method has better robustness and control accuracy than traditional adaptive backstepping control. Keywords: permanent magnet synchronous motor (PMSM); robust control; adaptive control; backstepping method; posi- tion tracking 1 Introduction PMSM [10] [8-9] PMSM [7-10]