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类型 应用研究 预答辩日期 2017-12-20
开始(开题)日期 2015-06-15 论文结束日期 2017-11-13
地点 自动化学院 中心楼二 楼教育部重点实验室会议室 论文选题来源 企、事业单位委托项目    论文字数 4.2 (万字)
题目 交流伺服系统先进控制理论及应用研究
主题词 交流伺服系统,有限时间控制,扩张状态观测器,惯量辨识,状态约束控制器
摘要 交流伺服控制系统目前已经被广泛的应用于工业领域,如:数控机床、医疗器械、汽车制造、工业机器人等。随着现代工业的发展,人们对交流伺服系统的动态响应、稳态误差、位置跟踪精度以及抗干扰能力等关键性指标提出了更高的要求。由于交流伺服系统具有强耦合、非线性以及多变量等特点,传统的线性控制方法已经无法满足高性能的控制要求。研究更为先进交流伺服智能化算法已经成为国内外学者研究的热点问题。 论文首先介绍了当前交流伺服系统的发展概况,并给出了交流伺服系统中常用的控制算法。在分析系统数学模型的基础上,文中详细讨论了交流伺服系统的矢量控制与直接转矩控制方案。论文的主要工作概述如下: 一、在交流异步电机直接转矩控制框架下,针对伺服控制系统中存在干扰影响的问题,提出一种结合有限时间控制(Finite Time Control, FTC) 和扩张状态观测器(Extended State Observer, ESO)的复合控制方法来提升系统的抗干扰能力。该部分的主要工作有:1)采用扩张状态观测器对系统扰动进行估计,并将估计值进行前馈补偿;2)运用连续有限时间控制方法设计了反馈控制器;3)对复合控制器的稳定性进行了分析和证明。最后,与传统的比例积分(Proportional Integral, PI)控制以及比例加扩张状态观测器(P+ESO) 控制进行比较,通过仿真与实验验证了所提方法的有效性. 二、考虑到目前不少伺服系统速度环和电流环控制周期差距越来越小的情况,传统的串级控制方案并非唯一选择,非串级结构的控制器设计问题意义变得日益重要。基于伺服系统非串级结构,针对伺服系统的抗干扰问题,文中提出了结合比例微分(PD) 控制和扩张状态观测器的复合控制方案。该部分的主要工作有:1)采用三阶扩张状态观测器对系统扰动进行估计,并将估计值进行前馈补偿;2)运用比例微分(PD) 控制设计了反馈控制器;3)对复合控制器的稳定性进行了分析和证明。最后,与相应的串级控制方案进行比较,仿真与实验验证了所提复合控制方法的有效性. 三、众所周知,交流伺服电机及其负载的转动惯量对系统的设计影响很大,因为它直接关系到伺服系统的性能,对于不同的转动惯量,需要对伺服系统控制器参数以及和系统运行相关的一些参数进行相应的调整。针对上述问题,文中提出了一种基于非串级的自适应的控制方法。该方法首先对惯量参数进行实时在线估计。然后,设计了自适应控制器,该控制器可以依据惯量估计值来对控制器参数进行在线实时调整,由此提升整个控制系统的控制性能。该部分主要工作如下:1)提出一种谐波信号在线分析的惯量辨识方法;2)结合惯量辨识技术,设计了自适应控制器。最后,通过仿真和实验验证了所提自适应方法的有效性。 四、基于非串级的控制结构下,传统的交流伺服系统控制方法难以兼顾快速性与电流约束的要求。针对这一问题,本文设计了带电流约束的控制器。该部分的主要工作如下:1)详细描述了单环结构下,系统的快速响应与电流约束存在的矛盾;2)研究和分析了现有的状态约束方法的优缺点;3)提出一种改进的电流约束控制方法。最后,通过仿真和实验验证了所提电流约束方法的有效性。 五、针对单环结构下抗干扰与状态约束问题,结合有限时间的控制方法和GPI观测器,文中提出了基于GPI观测器的带状态约束有限时间控制方法。该部分主要工作如下:1)设计了带状态约束的有限时间控制器;2)给出了稳定性分析与证明;3)针对扰动的多样性,设计了GPI观测器,对观测值进行前馈补偿。最后,通过仿真与实验证明了所提方法的有效性。
英文题目 Research on Advanced Control Theory and Application of AC Servo System
英文主题词 AC servo system,finite time control,extended state observer(ESO),inertia identification
英文摘要 In recently, AC servo drive has been widely used in Computer Numerical Control machine, medical equipment, automobile industry and industrial robots, etc. As the rapid development of modern industry, people have higher requirement for the performance index of servo drive, such as dynamic response, steady state error, tracking precision of position and the disturbance rejection ability. However, since the system is coupled, nonlinear and multiple-variable, traditional linear control methods can not satisfy the requirement of high performance. Researching for advanced and intelligent algorithm has become a hot topic. First, in this paper, the research background of AC servo system is introduced, and major AC servo control algorithms are discussed in brief. Then, the mathematical model of AC servo system, vector control and direct torque control are described. The main works are summarized as follows: 1.Basing on direct torque control of induction motor and considering the problem of disturbances in servo system, we propose a composite control scheme based on extended state observer (ESO) and continuous finite time control (FTC) to improve the disturbance rejection property of system. The main contents of this part include: (1) An extended state observer is introduced to estimate the disturbances of system. The estimated value is used in the feed-forward compensation design. (2) A continuous feedback-based finite-time control technique is applied in the feedback design. (3) The stability of the controller is analyzed. (4) Simulation and experimental comparisons with other two control methods, traditional PI and P+ESO, are given to verify the effectiveness of the proposed method. 2.Relative differences of permanent magnet synchronous motor (PMSM) in control periods between the speed loop and current loops are becoming smaller or even vanishing. Therefore cascade control scheme seems to be unnecessary. Non-cascade structure can be seen as an alternative. Under the structure of single-loop, focusing on how to effectively deal with disturbances, we propose a composite controller, which merges speed loop and q-axis current loop into one single loop. The main contents of this part include: (1) An third order extended state observer is employed to estimate the disturbance. The estimated value is used in the feed-forward compensation design to improve the capability of system anti-disturbance. (2) A feedback-based proportional derivative (PD) is applied in the feedback design. (3) The stability of the controller is analyzed. (4) Several groups of simulations and experiments are carried out and the results demonstrate the effectiveness of the proposed scheme. 3. In some applications with variations of load inertia, e.g., recoiling machine, carrying robot and welding robot, it is difficult to achieve the desired performances. If the inertia of system is increased to more than several times of the original inertia, the control performances can not be guaranteed. Motivated by this issue, we propose an online inertia identification method. The main contents of this part include: (1) The common methods of inertia identification are introduced, such as least square (LS) and model reference adaptive (MRA). (2) The inertia identification method of harmonic injection is described in details. (3) Considering the performance degradation caused by inertia change, an adaptive control scheme is developed. By using inertia identification technology, the feedforward compensation gain can be tuned automatically according to the identification value. (4) Several groups of simulations and experiments are carried out and the results demonstrate the effectiveness of the proposed scheme. 4. Under the non-cascade structure, PMSM combines the speed-loop and current loop into one loop. Conventional control methods of AC servo system usually balance current constraint requirement and dynamic performance. In order to solve this drawback, a novel current-constrained controller is developed. The main contents of this part include: (1) The conflict between fast response of system and current constraint is discussed in detail. (2) The defects of existing methods of current constraint are researched and analyzed. (3) An improved current constrained controller is proposed to keep the q-axis current in a safety zone. (4) The stability of the controller is analyzed. (5) Comparative experimental results between the classic PID and the current-constrained controller on PMSM servo system verify the effectiveness of the presented control scheme. 5. Aiming at the issue proposed in last chapter, and considering the effect of disturbance in the system, we propose a composite current constrained controller which combines GPI observer with finite time current constrained controller together. The main contents of this part include: (1) A finite time current constrained controller is proposed to keep the q-axis current in a safety zone. (2) Generalized proportional integral observer (GPIO) is designed to estimate the disturbances of system. (3) The stability of the controller is analyzed. (4) Both simulations and experiments are carried out and the results demonstrate the effectiveness of the proposed control scheme.
学术讨论
主办单位时间地点报告人报告主题
自动化学院 2014.07 中心楼会议室 高志强 工程控制论的重构
自动化学院 2014.08 中心楼会议室 陈文华 Unmanned vehicles: from automatic control to autonomous control
机电系统控制实验室 2015.03 中心楼608 孙振兴 The Application of Parameter Identification in Anti-disturbance of PMSM
自动化学院 2015.03 中心楼会议室 忻欣 Control Design and Analysis for Underactuated Robotic Systems: Theory and Experimental Validation
机电系统控制实验室 2015.10 中心楼608 孙振兴 The application of finite time controller in induction motor
机电系统控制实验室 2016.04 中心楼608 孙振兴 The Application of Modified PD controller and GPI Oberver for PMSM Speed Regulation System
机电系统控制实验室 2016.11 中心楼608 孙振兴 Discuss on Some Key Problems of Improving the Performance of Servo Motor
自动化学院 2016.12 中心楼会议室 喻豪勇 Rehabilitation and Assistive Robots to Improve Healthcare Productivity
     
学术会议
会议名称时间地点本人报告本人报告题目
The 29th Chinese Control and Decision Conference 2017年5月 中国重庆 Neural Network and Disturbance Compensation Based Control Design for PMSM Servo System
Annual Conference of the IEEE Industrial Electronics Society 2014年10月 美国达拉斯 Direct Torque Control of Induction Machine Using Finite-time Control and Disturbance Compensation
     
代表作
论文名称
A composite current constrained control for PMSM with time-varying disturbance
Direct torque control of induction machine using finite-time control and disturbance compensation
 
答辩委员会组成信息
姓名职称导师类别工作单位是否主席备注
费树岷 正高 教授 博导 东南大学
王凯 正高 教授 博导 南京航空航天大学
张兴华 正高 教授 硕导 南京工业大学
喻豪勇 副高 副教授 博导 新加坡国立大学
张侃健 正高 教授 博导 东南大学
      
答辩秘书信息
姓名职称工作单位备注
王翔宇 副高 副教授 东南大学