摘要
为提高行波型超声波电机转速跟踪的准确性和平稳性,改善因调频调速非线性带来的调速性能变化,将H∞混合灵敏度方法应用于转速控制器的设计.采用参数辨识法建立电机的频率转速模型,线性化得到电机的标称模型,将静态模型的非线性转化为标称模型的增益摄动,将动态模型的参数变化转化为标称模型的高阶未建模误差,把电机的转速模型表示为标称模型与误差模型和.根据模型误差界和调速性能指标,求取混合灵敏度加权函数,将控制器设计转化为标准的H∞优化问题,通过Matlab工具求解鲁棒控制器.仿真验证了转速闭环的稳定鲁棒性,使用数字信号处理芯片TMS320F28335在实际控制回路中实现该控制器,并测试电机调速性能.实验结果表明,鲁棒控制器应用于超声波电机调速系统可以取得良好的控制效果.
For travelling wave type ultrasonic motors,in order to improve speed tracking＇s accuracy and stability,and to enhance speed regulation performance owing to the nonlinearity of frequency modulation and speed regulation,the H∞ mixed-sensitivity design method is adopted to design the speed controller.Based on parameter identification,the model of motor＇s speed and frequency is established.It is linearized to get the motor＇s nominal model,with the gain variation transformed from nonlinearity of the static model,the higher-order modeling error from the parametric variation of the dynamic model,and the sum of the nominal model and the error model from the motor＇s speed model. According to model error bound and the speed regulation performance index,the mixable sensibility weighing function is solved,and the design of the speed controller is converted into standard H∞optimization problem.The robust controller is calculated by Matlab tools.The simulation results verify the control system＇s robustness.The robust controller is also realized in the digital signal processor TMS320F28335 and the motor＇s speed control performance is tested.The experimental results demonstrate that the speed control system applied to ultrasonic motor may provide a good control effect.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第5期881-885,共5页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金资助项目(51177014
51207021)
