具有输入饱和约束的永磁同步电机伺服 系统鲁棒有限时间控制

针对存在模型参数非线性不确定性因素和输入饱和约束的永磁同步电机伺服系统控制问题，提出一种具有抗输入饱和约束的鲁棒有限时间控制方法。为了处理输入饱和约束问题，通过定义饱和非线性函数将系统模型转化为带输入饱和约束的状态空间方程形式；将模型参数非线性不确定性因素扩张为一个新的状态变量，进而通过设计干扰观测器实现对不确定性因素的在线估计和前馈补偿，以提高系统的鲁棒性能；在模型参数不确定性因素前馈补偿的基础上设计永磁同步电机伺服系统鲁棒有限时间控制器，保证系统跟踪误差的有限时间收敛。仿真对比结果验证了所设计控制方法的有效性。

Robust finite-time control of PMSW servo system with input saturation constraint

In this paper, a robust finite time control method with input saturation constraint is proposed for the control problem of permanent magnet synchronous motor servo system with model parametric uncertainties and input saturation constraint. Firstly, in order to deal with the input saturation constraint problem, the system model is transformed into a state space equation with input saturation constraint by defining a saturation nonlinear function. Secondly, through taking the model parametric uncertainties as an extended state variable, then the disturbance observer is designed to estimate and compensate the uncertainties of the system so as to improve the system robust performance. Finally, on the basis of model parametric uncertainties estimation and feed forward compensation, a robust finite time controller is proposed to ensure the finite-time convergence of tracking error. Simulation results are presented to verify the effectiveness of the designed control method.