| 基于计算力矩法的永磁球形电动机轨迹跟踪控制 |
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| 引用本文： | 李洪凤,宋振辉,郭辰,李斌.基于计算力矩法的永磁球形电动机轨迹跟踪控制[J].天津大学学报(自然科学与工程技术版),2013(11):991-997. |
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| 作者姓名： | 李洪凤 宋振辉 郭辰 李斌 |
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| 作者单位： | [1]天津大学电气与自动化工程学院,天津300072 [2]华能新能源股份有限公司,北京100036 |
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| 基金项目： | 国家自然科学基金资助项目（51007061）; 天津市应用基础与前沿技术研究计划资助项目（10JCYBJC07900） |
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| 摘 要： | 永磁球形电动机动力学系统是一个多变量、非线性、强耦合系统.外部扰动、参数估计误差以及模型的近似均会影响系统的控制效果.为了获得良好的静态和动态性能,改善轨迹跟踪性能,提出了一种基于计算力矩法的永磁球形电动机轨迹跟踪控制策略.仿真结果表明,此方法可有效地削弱各轴向间非线性交叉耦合的影响,对外部扰动和模型误差具有良好的鲁棒性,可实现理想的轨迹跟踪控制效果.
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| 关 键 词： | 永磁球形电动机 动力学模型 轨迹跟踪 计算力矩法 |
Control for Trajectory Tracking of Permanent Magnet Spherical Motor Based on Computed Torque Method |
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| Li Hongfeng;Song Zhenhui;Guo Chen;Li Bin.Control for Trajectory Tracking of Permanent Magnet Spherical Motor Based on Computed Torque Method[J].Journal of Tianjin University(Science and Technology),2013(11):991-997. |
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| Authors: | Li Hongfeng;Song Zhenhui;Guo Chen;Li Bin |
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| Institution: | Li Hongfeng;Song Zhenhui;Guo Chen;Li Bin;School of Electrical Engineering and Automation,Tianjin University;Huaneng Renewables Corporation Limited; |
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| Abstract: | The permanent magnet spherical motor（PMSM）is a multivariable,nonlinear and strong coupling system.The external disturbance,the evaluated error of parameters and model error all have a great influence on the control performance of the motor. In order to obtain a better static and dynamic performance,and improve the trajectory tracking performance,a trajectory tracking control strategy of PMSM based on a computed torque method was proposed. The simulation results indicate that the proposed method can effectively eliminate the influences of inter-axis nonlinear coupling,and has better robustness against the external disturbance and the model error. Furthermore on excellent tracking trajectory performance can also be realized. |
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| Keywords: | permanent magnet spherical motor dynamic model trajectory tracking computed torque method |
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