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首页> 外文期刊>IEEE Transactions on Energy Conversion >Practical robust stabilization of PMAC servo drive based on continuous variable structure control
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Practical robust stabilization of PMAC servo drive based on continuous variable structure control

机译：基于连续可变结构控制的PMAC伺服驱动器的实用鲁棒稳定性

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In the paper, the two stage control design of a high performance PM AC servo drive is described. In the first stage, the nominal PM AC motor model is discussed as an analytical nonlinear system, transformed into the controllable canonical Brunovsky's form on the basis of input-output linearization. The influence of the load torque is considered implicitly by introducing the disturbance observer. Due to the sensitivity of the nominal model-based control to parameter perturbations the linear tracking control is extended in the second stage by a continuous variable structure stabilizing control derived from Lyapunov's function of the augmented feedback system. The design of the variable structure control requires no knowledge of the upper bounds of the perturbation function; instead, it considers the variable bounds of the available control signal. Undesired chattering of states and controlled variables are excluded. The introduced two stage control design assures practical robust stabilization for the class of bounded nonlinear perturbations satisfying the matching conditions without affecting the relative degree of the feedback system. Experimental results of the proposed PM AC servo drive control are also presented.
机译：本文描述了高性能PM AC伺服驱动器的两阶段控制设计。在第一阶段，将标称PM AC电动机模型作为一个解析非线性系统进行讨论，并根据输入输出线性化将其转换为可控的规范布鲁诺夫斯基形式。通过引入扰动观测器可以隐式考虑负载转矩的影响。由于标称模型控制对参数摄动的敏感性，线性跟踪控制在第二阶段通过连续变结构稳定控制得到扩展，该稳定结构源自增强反馈系统的Lyapunov函数。可变结构控制的设计不需要扰动函数的上限；相反，它考虑了可用控制信号的可变范围。排除了状态和受控变量的不必要的抖动。引入的两阶段控制设计确保了满足匹配条件的一类有界非线性摄动的实用鲁棒稳定，而不会影响反馈系统的相对程度。提出了所提出的永磁交流伺服驱动控制的实验结果。

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