本文選題：電動(dòng)加載系統(tǒng) + 分?jǐn)?shù)階PIλDμ　； 參考：《北京航空航天大學(xué)學(xué)報(bào)》2016年09期

【摘要】：針對(duì)電動(dòng)加載系統(tǒng)存在多余力矩?cái)_動(dòng)的問(wèn)題,提出一種以位置閉環(huán)和力矩閉環(huán)為反饋控制、迭代學(xué)習(xí)控制為補(bǔ)償控制的復(fù)合控制策略。為提高加載系統(tǒng)動(dòng)態(tài)性能及降低建立模型的復(fù)雜性,驅(qū)動(dòng)永磁同步電機(jī)采用直接轉(zhuǎn)矩控制方式,建立加載系統(tǒng)頻域模型。在位置閉環(huán)和力矩閉環(huán)采用分?jǐn)?shù)階PIλDμ控制器代替常規(guī)PID控制器,迭代學(xué)習(xí)補(bǔ)償控制采用分?jǐn)?shù)階迭代學(xué)習(xí)控制器,利用分?jǐn)?shù)階微積分的信息記憶特性提高控制系統(tǒng)的動(dòng)態(tài)性能和魯棒性,通過(guò)理論分析給出分?jǐn)?shù)階PD型迭代學(xué)習(xí)控制器的收斂條件。對(duì)正弦和梯形波載荷進(jìn)行力矩加載實(shí)驗(yàn)及多余力矩抑制實(shí)驗(yàn),驗(yàn)證了該控制方法的有效性。
[Abstract]:In order to solve the problem of redundant torque disturbance in electric loading system, a compound control strategy is proposed, in which position closed loop and torque closed loop are used as feedback control and iterative learning control as compensation control. In order to improve the dynamic performance of the loading system and reduce the complexity of establishing the model, the direct torque control method is used to drive the permanent magnet synchronous motor, and the frequency domain model of the loading system is established. The fractional Pi 位 D 渭 controller is used to replace the conventional PID controller in the position closed loop and torque closed loop, and the fractional order iterative learning controller is used in the iterative learning compensation control. The information memory property of fractional calculus is used to improve the dynamic performance and robustness of the control system. The convergence conditions of fractional PD type iterative learning controller are given by theoretical analysis. Torque loading experiments and redundant torque suppression experiments on sinusoidal and trapezoidal loads are carried out to verify the effectiveness of the proposed control method.
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本文編號(hào)：1965877