限速伺服系统的近似时间最优控制方案

针对典型的双积分伺服系统，提出一种基于模式切换的近似时间最优控制方案，实现系统在速度受限条件下的快速与准确的位置伺服控制。近似时间最优控制律在初始误差较大时先以最大控制量进行加速和减速，而当误差较小时平滑过渡为线性控制；为满足速度限制，在系统的加速段和减速段之间插入一个恒速控制段，并设计了模式切换流程；采用一个线性扩展状态观测器对系统未量测速度和未知扰动加以估计，用于反馈和补偿，以消除系统稳态误差。提出的控制方案被应用于永磁同步电机位置伺服系统，基于TMS320F2812DSP进行了实验测试，结果表明系统可以在各种负载扰动和转速限制下实现大范围的位置控制，且具有良好的性能。

Proximate time-optimal control scheme for speed-constrained servo systems

A proximate time-optimal control (PTOC) scheme with mode switching is proposed for typical servo systems characterized by the double-integrator model, aiming to achieve fast and accurate position regulation under speed constraint. The PTOC law exerts the maximum control authority for acceleration and deceleration when the initial position error is large, and ensures a smooth transition to linear control when the error goes down to some specified value. To satisfy the speed constraint, a stage for speed regulation is inserted between the acceleration stage and the deceleration stage of the servo system, and a mode-switching logic is designed. A linear extended state observer is adopted to estimate the un-measured speed and the unknown disturbance, to be used for feedback and compensation, so as to remove the steady-state error. The control scheme is then applied to a permanent magnet synchronous motor (PMSM) position servo system. Experimental tests have been carried out using the TMS320F2812DSP and the results verify that the controlled system is capable of tracking a wide range of target positions with desirable performance in the presence of load disturbance and speed constraint.