针对控制输入饱和受限且带有未知扰动的电机伺服系统,提出一种实现曲线轨迹准确跟踪的鲁棒复合控制方案。该方案引入一个参考信号生成器和一个扩展状态观测器,其中参考信号生成器可根据目标轨迹信号构造出对应的状态量,扩展状态观测器用于对系统的状态量和扰动进行估计, 采用反馈与前馈相结合构成最终的控制律。利用Lyapunov理论对闭环系统的稳定性进行了严格分析。在MATLAB中进行了仿真研究,随后在一个DSP控制的永磁直线电机二维伺服平台进行了试验验证。结果表明:所提的控制方案能在轨迹跟踪任务中取得优越的瞬态性能和稳态准确性,而且对目标轨迹和扰动的幅值差异具有较好的鲁棒性。

A robust composite tracking control scheme was proposed to accomplish accurate trajectory tracking for motor servo systems subject to input saturation and unknown disturbance. The control scheme incorporated a reference generator which constructed the target state vector corresponding with the trajectory reference signal, and an extended state observer which estimated both the system states and the disturbance. The final control law adopted a combination of feedback and feedforward actions. The stability of the closedloop control system was strictly analyzed using the Lyapunov theory. Simulation studies were conducted in MATLAB, followed by an experimental verification on a DSPcontrolled XYtable driven by permanent magnet linear motors. The results indicated that the proposed control scheme could achieve superior transient performance and steadystate accuracy in various trajectory tracking tasks and was more robust against the amplitude variations of target trajectory and disturbance.

TM 921.54+1

国家自然科学基金项目(51477031)