永磁同步电机系统线性化H∞鲁棒控制

针对内埋式永磁同步电机伺服系统,研究了一种线性化H∞鲁棒控制方法。该方法基于微分几何理论,利用输入输出解耦线性化技术将系统模型转化为线性模型;然后采用最大转矩比电流控制策略增加系统的转矩输出能力;针对负载干扰设计了负载转矩观测器;最后基于线性化模型设计了H∞鲁棒控制器,提高系统对内埋式永磁同步电机系统参数变化的鲁棒性。仿真实验结果表明基于微分几何输入输出解耦H∞鲁棒控制伺服系统有较好的动态性能、抗干扰性能、跟踪性能和鲁棒性能。

Robust control with linearization technique for interior permanent magnet synchronous motor servo system

An interior permanent magnet synchronous motor(IPMSM) control method is studied for the servo system. Based on the differential geometry theory, the nonlinear system is changed into a linear system with input-output decoupling technique. Then, by the maximum torque per ampere(MTPA) control strategy, the output torque of the servo system is added. And then, A load torque observer is designed to resist the variable load. In the end, Based on the linearization model,a H∞ controller is given. Simultion results show that the direct drive servo system based on decopuling robust control has fast transient responses, good load disturbance resistance response and good tracking responses.