Robust Model Predictive Control for Position Servo Motor System

doi:10.11985/2021.04.008

Abstract

Abstract:

In order to improve the control performance of permanent magnet synchronous motor position servo system, a robust model predictive direct speed control (MPDSC) strategy is proposed. Firstly, a hybrid MPDSC strategy which combine the finite control set MPDSC and double vector MPDSC strategy is introduced. It can switch between steady and dynamic state of the motor. Then, a parameters disturbance and load observer based on sliding-mode control theory is designed to eliminate the mismatch of electrical and mechanical parameters and the load disturbance. Finally, the experiments are presented to verify the validity of the proposed control schemes.

Key words: Position servo system, model predictive direct speed control, sliding-model observer

CLC Number:

TM561

WEN Congjian, WANG Zheng, ZHANG Ziyue. Robust Model Predictive Control for Position Servo Motor System[J]. Journal of Electrical Engineering, 2021, 16(4): 59-67.

Figures/Tables 12

References 15

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参数	数值	参数	数值
直流电压U_dc/V	100	极对数p	4
电感L/mH	4.83	永磁磁链ψ_f/Wb	0.075
定子电阻R_s/Ω	1.175	转动惯量J/(kg·m²)	0.000 029
最大电流I_max/A	1.6	采样频率f_s/kHz	20
权重系数λ_L	10⁵	转速阈值ω₁/(rad/s)	3
转速阈值ω₂/(rad/s)	0.1