摘要
针对考虑时变状态约束和输入饱和的永磁同步电机随机系统的位置跟踪控制问题,提出了一种基于障碍Lyapunov函数的指令滤波反步控制方案.首先,构造障碍Lyapunov函数以保证电流、转速等状态量不违反时变约束条件.随后,利用模糊逻辑理论处理电机随机系统中的未知非线性项.此外,采用了指令滤波技术与误差补偿机制相结合的方法,不仅解决了传统反步法中出现的“计算爆炸”问题,而且消除了滤波误差的影响.仿真结果表明该控制器能有效抑制输入饱和与随机扰动的影响,提高系统的控制性能,同时能够保证电机系统所有状态在给定的约束范围内.
A command filtered backstepping tracking control scheme based on barrier Lyapunov functions(BLFs)is proposed for the permanent magnet synchronous motor(PMSM)stochastic systems with time-varying state constraints and input saturation.Firstly,BLFs are constructed to ensure that all system states do not violate the time-varying constraints.Then,the nonlinearities of PMSM stochastic systems are approximated by the fuzzy logic systems.In addition,the command filter technology is utilized to solve the problem of"complexity explosion"existing in the traditional backstepping method,and the influence of filtering errors is effectively handled by the error compensation mechanism.It is shown from simulation results that the controller can work out the influence of input saturation and stochastic disturbance,and improve the control performance,and guarantee the system states within the prescribed time-varying constraint regions.
作者
张雨
于金飞
刘加朋
于海生
于金鹏
ZHANG Yu;YU Jinfei;LIU Jiapeng;YU Haisheng;YU Jinpeng(School of Automation,Qingdao University,Qingdao 266071;Shandong Key Laboratory of Industrial Control,Qingdao 266071;Zibo Technician College,Zibo 255030)
出处
《系统科学与数学》
CSCD
北大核心
2023年第1期15-28,共14页
Journal of Systems Science and Mathematical Sciences
基金
国家重点研发计划(2017YFB1303503)
国家自然基金项目(61973179)
青岛市重点研发专项(21-1-2-6-nsh)资助课题。
关键词
指令滤波控制
时变状态约束
输入饱和
永磁同步电机
随机扰动
Command filter control
time-varying state constraints
input saturation
permanent magnet synchronous motor
stochastic disturbance
