无人战车轮毂电机稳定性控制策略研究OA北大核心CSTPCD
Research on stability control strategy of unmanned combat hub motor
为了降低无人战车轮毂电机外部受到的大负载扰动提出了基于滑模负载转矩观测器的自抗扰控制(Active Dis-turbance Rejection Control,ADRC)策略,可以即时观测负载扰动变化,并将观测到的负载转矩变化前馈至转矩电流中,从而提升了速度控制系统的响应速度、减小了转矩波动.利用Simulink软件仿真,对滑模速度控制、滑模负载转矩观测器及ADRC速度环控制进行了对比分析.根据仿真结果可知,该模型平稳度高、系统抗扰能力强.
In order to reduce the large load disturbance exposed to the external of the unmanned combat hub motor,the Active Disturbance Rejection Control(ADRC)strategy based on the synovial load torque observer was proposed,which can observe the load disturbance change in real time and feed the observed load torque change forward into the torque current,thereby significant-ly improving the steady-state performance of the speed control system.Simulink simulation was used to compare and analyze the synovial velocity control,synovial load torque observer and ADRC velocity loop control.According to the simulation results,the model shows high smoothness and strong system immunity.
李鑫帅;毛汉领;王鹏康;李思言
广西大学机械工程学院,南宁 530004
计算机与自动化
自抗扰控制轮毂电机滑模负载转矩观测器前馈补偿速度调节器
Active Disturbance Rejection Control(ADRC)hub motorsynovial load torque observerfeed-forward compensationspeed regulator
《现代制造工程》 2024 (006)
9-14,35 / 7
国家自然科学基金项目(202201013);广西人才和基地专项项目(AD19259002)
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