基于自适应微分跟踪器的位置伺服系统

摘要

The general control strategies were often unable to meet the fast response without over-shoot for the position control of PMSM,to resolve these problems,on the basis of analysis of tradi-tional tracking-differentiator,an adaptive tracking-differentiator controller was proposed herein.The designed controller would arrange transient process for position commands and use the least square method to fit the linear function of a curve of pluse step input s and filtering factor h in transient process.Furthermore, this controller might adaptively choose the optimum parameters of the transient process according to the different curves of pluse step and might achieve the fast response without overshoot for the wide range of step commands.The experimental results demonstrate the feasibility and advantages of the proposed controller.%为兼顾永磁同步电机位置控制的快速响应能力和无超调特性，在分析传统微分跟踪器的基础上，设计了一种自适应微分跟踪控制器。该控制器用微分跟踪器对位置指令安排过渡过程，采用最小二乘法拟合滤波因子h 和输入阶跃脉冲数s 的一次函数关系。此外，该控制器可以在运行过程中根据不同范围的阶跃信号自适应地选择最优过渡过程参数，实现了对阶跃指令大范围无超调的快速响应。实验结果验证了该控制器的可行性及优越性。