电气传动2018，Vol.48Issue(5)：49-52,4.DOI:10.19457/j.1001-2095.20180510
基于负载估计的伺服系统自适应反推控制
Adaptive Backstepping Control of Servo System Based on Load Estimation
摘要
Abstract
An adaptive backstepping control method was proposed to solve the problem of static error under load disturbances of the permanent magnet synchronous servo system. Based on the traditional backstepping control,the estimated load variable was added in the speed loop,and a Lyapunov function was designed,then a new current controller was obtained,which enabled the system adjust itself according to the load parameter changing,so as to improve the dynamic and static performance of the control system.This method could not only achieve the complete decoupling of the permanent magnet synchronous motor system,but also guarantee its global asymptotic stability,and it could solve the problem of steady state error in traditional backstepping control. The simulation results verify the effectiveness and feasibility of the system design,and show that the adaptive backstepping control system has strong robustness and good servo performance.关键词
永磁同步电机/负载估计/自适应控制/反推控制Key words
permanent magnet synchronous motor/load estimation/adaptive control/backstepping control分类
信息技术与安全科学引用本文复制引用
杜太行,龙超,江春冬,王景玉..基于负载估计的伺服系统自适应反推控制[J].电气传动,2018,48(5):49-52,4.基金项目
河北省教育厅重点项目(ZD2017216) （ZD2017216）
