[1]潘鹏,徐志科,金浩,等.基于H∞混合灵敏度方法的超声波电机调速控制[J].东南大学学报(自然科学版),2015,45(5):881-885.[doi:10.3969/j.issn.1001-0505.2015.05.012]
 Pan Peng,Xu Zhike,Jin Hao,et al.Speed control of ultrasonic motor based on H∞ mixed-sensitivity design method[J].Journal of Southeast University (Natural Science Edition),2015,45(5):881-885.[doi:10.3969/j.issn.1001-0505.2015.05.012]
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基于H混合灵敏度方法的超声波电机调速控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
45
期数:
2015年第5期
页码:
881-885
栏目:
电气工程
出版日期:
2015-09-20

文章信息/Info

Title:
Speed control of ultrasonic motor based on H mixed-sensitivity design method
作者:
潘鹏徐志科金浩金龙陈爽黄帆冷静雯
东南大学电气工程学院, 南京 210096
Author(s):
Pan Peng Xu Zhike Jin Hao Jin Long Chen Shuang Huang Fan Leng Jingwen
School of Electrical Engineering, Southeast University, Nanjing 210096, China
关键词:
超声波电机 H鲁棒控制 混合灵敏度 转速控制
Keywords:
ultrasonic motor H robust control mixed sensitivity speed control
分类号:
TM383
DOI:
10.3969/j.issn.1001-0505.2015.05.012
摘要:
为提高行波型超声波电机转速跟踪的准确性和平稳性,改善因调频调速非线性带来的调速性能变化,将H混合灵敏度方法应用于转速控制器的设计.采用参数辨识法建立电机的频率转速模型,线性化得到电机的标称模型,将静态模型的非线性转化为标称模型的增益摄动,将动态模型的参数变化转化为标称模型的高阶未建模误差,把电机的转速模型表示为标称模型与误差模型和.根据模型误差界和调速性能指标,求取混合灵敏度加权函数,将控制器设计转化为标准的H优化问题,通过Matlab工具求解鲁棒控制器.仿真验证了转速闭环的稳定鲁棒性,使用数字信号处理芯片TMS320F28335在实际控制回路中实现该控制器,并测试电机调速性能.实验结果表明,鲁棒控制器应用于超声波电机调速系统可以取得良好的控制效果.
Abstract:
For travelling wave type ultrasonic motors, in order to improve speed tracking’s accuracy and stability, and to enhance speed regulation performance owing to the nonlinearity of frequency modulation and speed regulation, the H mixed-sensitivity design method is adopted to design the speed controller.Based on parameter identification, the model of motor’s speed and frequency is established.It is linearized to get the motor’s nominal model, with the gain variation transformed from nonlinearity of the static model, the higher-order modeling error from the parametric variation of the dynamic model, and the sum of the nominal model and the error model from the motor’s speed model.According to model error bound and the speed regulation performance index, the mixable sensibility weighing function is solved, and the design of the speed controller is converted into standard Hoptimization problem. The robust controller is calculated by Matlab tools.The simulation results verify the control system’s robustness.The robust controller is also realized in the digital signal processor TMS320F28335 and the motor’s speed control performance is tested. The experimental results demonstrate that the speed control system applied to ultrasonic motor may provide a good control effect.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2015-03-07.
作者简介: 潘鹏(1983—),男,博士生;金龙(联系人),男,博士,教授,博士生导师, jinlong@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(51177014,51207021).
引用本文: 潘鹏,徐志科,金浩,等.基于H混合灵敏度方法的超声波电机调速控制[J].东南大学学报:自然科学版,2015,45(5):881-885. [doi:10.3969/j.issn.1001-0505.2015.05.012]
更新日期/Last Update: 2015-09-20