永磁同步伺服电机的变结构与前馈复合控制

为提高永磁同步伺服电机控制系统的性能，文章阐述了永磁同步电机伺服系统架构并给出了永磁同步电机的数学模型。在此基础上，对传统的三环伺服位置控制进行了分析，给出了各控制环参数的设计准则，并总结了传统伺服控制策略下的特点。随后，针对传统伺服控制系统定位精度低、响应慢的缺陷，在分析研究变结构控制和前馈控制特点的基础上，将其与传统控制相结合，提出了三者控制方式结合的复合控制策略，并对其进行了相应地理论分析。最后，建立了相应的系统仿真控制模型，并进行了测试。结果表明：变结构控制和前馈控制独立作用时均可缩短系统响应时间，而前馈控制还可提高系统的定位精度；同时复合控制结合了两者的优点，既提高了系统位置响应速度又改善了位置跟踪精度。

Compound control of variable structure and feedforward for permanent magnet synchronous servo motor

In order to improve the performance of permanent magnet synchronous servo motor control system, the system construction and mathematical model of permanent magnet synchronous motor (PMSM) was given in this paper. Then, the traditional control strategy of three loops for the position of permanent magnet synchronous motor was analyzed, and the control parameters design principle was derived. Considering low track precision and slow response characteristics of traditional control, the variable structure control and feedforward control were analyzed. Subsequently, the novel compound control combining these two control strategies and the traditional control was proposed and corresponding theory analysis was well fulfilled. Finally, the simulation system for PMSM was built and some tests had been done. The results show that variable structure control and feedforward control can both shorten the response time, while feedforward control still can improve the position accuracy of system. Meanwhile, proposed compound control not only speed up response but also improve the track precision.