电工技术学报2024，Vol.39Issue(8)：2412-2421,10.DOI:10.19595/j.cnki.1000-6753.tces.230163
永磁伺服系统转速跟踪控制与数据驱动的参数设计方法
Speed Tracking Control Strategy and Data-Driven Parameter Design Method of Permanent Magnet Servo System
摘要
Abstract
The servo system is also called a follow-up system,a feedback control system to follow or reproduce a process accurately.The position,orientation,state,and other controlled output variables of the object can follow the arbitrary changes of the input target(or given value).Because the servo system can achieve precise speed and position control in a wide range,it is generally used in applications requiring high system performance,such as industrial production and military defense security.With the improvement in manufacturing technology of permanent magnet materials,the permanent magnet servo system has been developed rapidly,and the control performance has been improved.However,traditional speed control strategies in the servo system have amplitude and phase deviation problems in the low-frequency band,which reduces the precision of speed tracking control. A high-precision speed-tracking control strategy and a data-driven parameter design method are proposed to improve the speed-tracking accuracy of the servo system in the entire speed range.Firstly,a lag-lead compensator is connected in series in the speed control link to correct the amplitude and phase of the low-frequency band.Speed tracking accuracy is improved by making the corrected amplitude and phase shift tend to zero.Secondly,a data-driven parameter optimization design method is proposed to minimize amplitude and phase errors after low-frequency compensation and constrain the maximum value gain and phase shift of the compensator in the full-frequency band.Thirdly,according to simulation or experimental data,the actual amplitude gain and phase shift of the system in the low-frequency band are obtained,enhancing the adaptability of parameters.The parameters of the lag-lead compensator are continuously optimized based on the feedback junction.Thus,the compensated amplitude gain and phase shift have the minimum mean square error.Compared with traditional methods,the designed lag-lead compensator and parameter optimization method match the actual system,avoiding adverse effects caused by uncertain factors like the mismatch of the moment of inertia. The experimental results show that the compensator designed based on experimental data has a speed tracking error of less than 2 r/min in the low-frequency range with a speed instruction frequency of less than 1 rad/s,significantly improving the speed control accuracy.Moreover,the control effect is equivalent to that of the traditional method when tracking the speed step command,which does not affect the dynamic characteristics of the servo system. The proposed method improves tracking performance in the low-frequency band while maintaining the original amplitude-frequency and phase-frequency characteristics of the control system in the middle and high-frequency bands.It is conducive to improving the speed tracking accuracy of the servo system in the entire speed range,promoting the engineering application of permanent magnet servo systems.关键词
永磁伺服系统/转速控制/滞后-超前补偿器/数据驱动/参数优化Key words
Permanent magnet servo system/speed control/lag-lead compensator/data-driven/parameter optimization分类
信息技术与安全科学引用本文复制引用
连传强,郭力源,许观达,肖飞,张伟伟..永磁伺服系统转速跟踪控制与数据驱动的参数设计方法[J].电工技术学报,2024,39(8):2412-2421,10.基金项目
国家自然科学基金(51807200,52177202)和国家重点基础研究发展计划(973)(2015CB251004)资助项目. （51807200,52177202）
