分阶段模糊滑模控制在交流伺服系统中的研究
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摘要
对交流伺服等快速变化的非线性复杂系统,人们已提出了各种控制方案优化系统性能,其鲁棒性是交流伺服系统的重要性能指标之一。滑模控制方法因其无超调、响应速度快以及对系统参数和外部不确定扰动的鲁棒性而受到许多学者的高度重视。
本论文设计一个带有分阶段模糊滑模控制器的交流伺服系统,并对其做了较深入的研究和分析。首先,为了提高伺服系统的鲁棒性能,设计了位置滑模控制器,利用位置偏差和转子角速度作为滑模控制器的输入,通过满足滑模条件的控制量不断切换来决定电动机的定子电流,使伺服系统对参数变化和外部扰动的变化有良好的鲁棒性。
抖动问题是阻碍滑模控制方法得以广泛应用的主要原因。因此,针对滑模控制方法所固有的抖动问题,采用馍糊算法加以解决。该模糊算法的控制思想为:针对相轨迹运动点在相平面的位置,以及该点运动的速度和方向,在控制器中原有控制量中加入可以调节的切换控制量。使得系统在保持滑模控制原有的鲁棒性的同时能很好的起到减小抖动的作用,并对去抖动的结果加以分析。
另外,在伺服系统启动的阶段,采用指数趋近率的滑模控制;当运动点到达设定阈值处时切换到模糊滑摸控制。因为运动点以指数规律快速运动,这样可以更好的加快伺服系统的响应速度;并且保证两种控制切换的连续光滑性,能较好的优化系统响应时间。
最后,本文对所设计的滑模控制系统进行了仿真研究。仿真结果表明这种分阶段模糊滑模控制方法能实现交流伺服系统的高鲁棒性能,快速响应性能,系统无超调,同时较好的削弱了抖动,具有令人满意的动、静态性能。
For AC servo system of quick changing and non-linear complex system, many kinds of methods are presented. Among them, the robustness is one of the important indexes. Sliding mode control method has been paid attention by many scholars, because of its no overshoot, quick response and the robustness to system parameters and outer interrupts.An AC servo system with grading fuzzy sliding mode controller is presented in this paper and the deeper analysis and research have been done. Firstly, in order to increase the robustness of AC servo system, the position controller of sliding mode is designed. With the error position and rotor speed as inputs, the controller can decide the current of stator through the uninterrupted control that satisfies the sliding mode condition. So, the servo system has the good robustness to the change of parameters and outer interrupts.Because the chattering problem is the main reason of baffling the abroad application of sliding mode control method, the fuzzy arithmetic is added to solve the inhere chattering problem. The rules of the fuzzy arithmetic is that for the position of running point of phase track, the speed and the direction of the point, the adjustive control is added to the former control. So. the system can keep the robustness and can decrease the chattering. At the same time, the result of deceasing chattering is analyzed.In addition, at the moment of startup, the exponent approaching sliding mode control is adopted. Then when the running point is reaching the threshold the fuzzy sliding mode control is changed. Because the point is running with the exponent deceasing speed, the response of system is speed up. Moreover, the smooth of control is realized and the time of response is optimized.Finally, this paper analyses the results of the simulation. Simulated results obtained verify the validity of the proposed method in terms of robust performance, quick response and reduced chattering, good dynamic-static performance in AC servo system.
本论文设计一个带有分阶段模糊滑模控制器的交流伺服系统,并对其做了较深入的研究和分析。首先,为了提高伺服系统的鲁棒性能,设计了位置滑模控制器,利用位置偏差和转子角速度作为滑模控制器的输入,通过满足滑模条件的控制量不断切换来决定电动机的定子电流,使伺服系统对参数变化和外部扰动的变化有良好的鲁棒性。
抖动问题是阻碍滑模控制方法得以广泛应用的主要原因。因此,针对滑模控制方法所固有的抖动问题,采用馍糊算法加以解决。该模糊算法的控制思想为:针对相轨迹运动点在相平面的位置,以及该点运动的速度和方向,在控制器中原有控制量中加入可以调节的切换控制量。使得系统在保持滑模控制原有的鲁棒性的同时能很好的起到减小抖动的作用,并对去抖动的结果加以分析。
另外,在伺服系统启动的阶段,采用指数趋近率的滑模控制;当运动点到达设定阈值处时切换到模糊滑摸控制。因为运动点以指数规律快速运动,这样可以更好的加快伺服系统的响应速度;并且保证两种控制切换的连续光滑性,能较好的优化系统响应时间。
最后,本文对所设计的滑模控制系统进行了仿真研究。仿真结果表明这种分阶段模糊滑模控制方法能实现交流伺服系统的高鲁棒性能,快速响应性能,系统无超调,同时较好的削弱了抖动,具有令人满意的动、静态性能。
For AC servo system of quick changing and non-linear complex system, many kinds of methods are presented. Among them, the robustness is one of the important indexes. Sliding mode control method has been paid attention by many scholars, because of its no overshoot, quick response and the robustness to system parameters and outer interrupts.An AC servo system with grading fuzzy sliding mode controller is presented in this paper and the deeper analysis and research have been done. Firstly, in order to increase the robustness of AC servo system, the position controller of sliding mode is designed. With the error position and rotor speed as inputs, the controller can decide the current of stator through the uninterrupted control that satisfies the sliding mode condition. So, the servo system has the good robustness to the change of parameters and outer interrupts.Because the chattering problem is the main reason of baffling the abroad application of sliding mode control method, the fuzzy arithmetic is added to solve the inhere chattering problem. The rules of the fuzzy arithmetic is that for the position of running point of phase track, the speed and the direction of the point, the adjustive control is added to the former control. So. the system can keep the robustness and can decrease the chattering. At the same time, the result of deceasing chattering is analyzed.In addition, at the moment of startup, the exponent approaching sliding mode control is adopted. Then when the running point is reaching the threshold the fuzzy sliding mode control is changed. Because the point is running with the exponent deceasing speed, the response of system is speed up. Moreover, the smooth of control is realized and the time of response is optimized.Finally, this paper analyses the results of the simulation. Simulated results obtained verify the validity of the proposed method in terms of robust performance, quick response and reduced chattering, good dynamic-static performance in AC servo system.
引文
[1] 赵金,万淑芸,王离九.交流伺服系统的串级滑模控制.电工技术学报.1996(2)
[2] 邵辉.新型智能控制器在BDCM交流伺服系统中的应用研究:[学位论文]甘肃:甘肃工业大学,2001
[3] 郭庆鼎,王成元编.交流伺服系统.北京:机械工业出版社,1994
[4] 孙宜标.滑模变结构控制的交流伺服系统研究:[学位论文]沈阳:沈阳工业大学,1997
[5] 李夙编.异步电动机直接转矩控制.北京:机械工业出版社,1998
[6] Y. Itoh, Y. naitoh and T. Tsuchiva. The Advanced Speed Regulator System for Brushless Motor. In Proc. IEEE. IAS Annu Meeting, 1990. 460～466
[7] 刘建英.滑模变结构控制的直流伺服系统研究.中国民航学院学报,1998(5)
[8] 陈伯时主编.电力拖动自动控制系统.北京:机械工业出版社,1999
[9] 王丰尧编著.滑模变结构控制.北京:机械工业出版社,1995
[10] 郭庆鼎,王成元,周美文,孙廷玉编著.直线交流伺服系统的精密控制技术.北京:机械工业出版社,2000
[11] 赵会,万淑芸,王离九等.交流调速系统的一种新型滑模控制器.电工技术学报,1995(3)
[12] 王声远,霍伟.一种新的自适应模糊控制器设计方法.控制与决策,2001(1)
[13] Xinkai Chen. Adaptive Quasi-Sliding-Mode Tracking Control for Discrete Uncertain Input-Output Systems. IEEE Transactions on Industrial Electronics. 2001
[14] G. D. ANDREESCU, A. POPA, A. SPILCA. Two Sliding Mode Based Observers for Sensorless Control of PMSM Drives. Electric Power Components and Systems. 2002, (30): 121～133
[15] M. Chakravarthini Saaj, Bandyopadhyay and Heinz Unbehauen. A New Algorithm for Discrete-Time Sliding-Mode Control Using Fast Output Sampling Feedback.. IEEE Transactions on Industrial Electronics. 2002, 6(49)
[16] Feijun Song and Samuel M. Smith. Design of Sliding Mode Fuzzy Controllers for an Autonomous Underwater Vehicle without System Model. Florida Atlantic University. 1999
[17] Mihai Cernat and Vasile Comnac etcs. Sliding Mode Control of Interior Permanent Magnet Synchronous Motors. CIEP 2000, 10
[18] Cem Unsal and Pushkin Kachroo. Sliding Mode Measurement Feedback Control for Antilock Braking Systems. IEEE Transactions on Control System Technology. 1999, 3
[19] Chih-Min Lin, Chan-Fei Hsu. Self-Learning Fuzzy Sliding-Mode Control for Antilock Braking Systems. IEEE TRANSACTIONS ON CONTROL SYSTEMSTECHNOLOGY.2003, 3(2)
[20] Amuliu Bogdan Proca, Ali Keyhani and John M. Miler. Sensorless Sliding-Mode Control of Induction Motors Using Operating Condition Dependent Models. IEEE Transactions on Energy Conversion. 2003, 6(18)
[21] 呈仁洪,涂生.电机调速系统中的滑模变结构控制器设计方法.南开大学学报,1998(4)
[22] 胡剑波,褚健.一种连续可导的滑模变结构近似算法及其仿真研究.系统仿真学报,2001,7(4)
[23] 吴东苏,闵松,万淑芸等.基于滑模变结构控制的高精度交流伺服系统的设计与仿真.计算技术与自动化,2001,9(3)
[24] 冯力.滑模变结构控制系统设计.辽宁工学院学报,1995,3
[25] 陈志晦,张井岗,曾建潮.交流伺服系统的积分模糊控制.电机与控制学报,1999(1)
[26] P. Zlateva. Sliding-Mode Control of Fermentation Processes. BioproceEngineering. 1997,(16):383～387
[27] Ying Jen Huang and Hang-Kang Way. Design of sliding surfaces in variable struture control via a direct pole assignment scheme. International Journal of Systems Science, 2001(32):963～969
[28] S Tokat, Ib Eksin, M Guzelkaya. A new design method for sliding mode controllers using a linear time-varying sliding surface. Proc Instn Mech Engrs. 2002(2): 455～466
[29] 陈玉宏.抑制抖振的新方法—滑模变结构控制切换面H∞优化设计.四川轻化工学院学报.1997,9(3)
[30] M. Onder Efe, Okay Kaynak and Bogdan M. Wilamowski. Creating a Silding Mode in a Motion Control System by Adopting a Dynamic Defuzzification Strategy in an Adaptive Neuro Fuzzy Inferece System. IEEE 2000
[31] Jiang Zhiming, Wang Shengwei, Lin Tingqi. Variable structure control of electrohydraulic servo systems using fuzzy CMAC neural network. Transactions of the Institute of Measurement and Control. 2003, (3): 185～201
[32] W. -D. Chou, F. -J. gin, K. -K. Shyu. Incremental motion control of an induction motor servo drive via a genetic-algorithm-based sliding mode controller. IEE Proceedings.2003, 4(3)
[33] 郑怀林,陈维南.基于遗传算法的模糊滑模控制器设计.电气传动,2000,1
[34] 傅春,谢剑英.模糊滑模控制研究综述.信息与控制,2001,10(5)
[35] 赵金,杨璐,万淑芸.交流调速系统的一种模糊滑模控制器.华中理工大学学报,2000,12(12)
[36] Q. P. Ha, D. C. Rye, H. F. Durrant-Whyte. Fuzzy Moving Sliding Mode Control with Application to robotic manipulators. Automatica. 1999, (35): 607～616
[37] Q. P. Ha, Q. H. Nguyen ect.. Fuzzy Sliding-Mode Controllers with Applications. IEEE transactions on Industrial Electronics, 2001, 2(48)
[38] Spyros G. Tzafestas, Gerasimos G. Rigatos. Design and Stability Analysis of a New Sliding-Mode Fuzzy Logic Controller of Reduced Complexity. Machine Intelligence & Robotic Control. 1999(1): 27～41
[39] 孙宜际,郭庆鼎.交流直线伺服系统模糊变结构控制.沈阳工业大学学报,2002
[40] 秦勇,贾利民,张锡第.基于模糊穴的多变量模糊滑模控制器.中国铁道科学,1997,3(1)
[41] 姚俊,马松辉编著.Simulink建模与仿真.北京:西安电子科技大学出版社,2002
[42] 葛锁良,王孝武.滑模变结构系统设计.合肥工业大学学报,1999(1)
[43] 孙增圻,张再兴,邓志东编著.智能控制理论与技术.北京:清华大学出版社,1997
[44] 曹承志编著.微型计算机控制新技术.北京:机械工业出版社,2000
[45] 张昌凡,王耀南.滑模变结构的智能控制及其应用.电机工程学报,2001(3)
[46] S Tokat, Ib Eksin, M Guzelkaya. A new design method for sliding mode controllers using a linear time-varying sliding surface. Proc Instn Mech Engrs. 2002(2): 455～466
[2] 邵辉.新型智能控制器在BDCM交流伺服系统中的应用研究:[学位论文]甘肃:甘肃工业大学,2001
[3] 郭庆鼎,王成元编.交流伺服系统.北京:机械工业出版社,1994
[4] 孙宜标.滑模变结构控制的交流伺服系统研究:[学位论文]沈阳:沈阳工业大学,1997
[5] 李夙编.异步电动机直接转矩控制.北京:机械工业出版社,1998
[6] Y. Itoh, Y. naitoh and T. Tsuchiva. The Advanced Speed Regulator System for Brushless Motor. In Proc. IEEE. IAS Annu Meeting, 1990. 460～466
[7] 刘建英.滑模变结构控制的直流伺服系统研究.中国民航学院学报,1998(5)
[8] 陈伯时主编.电力拖动自动控制系统.北京:机械工业出版社,1999
[9] 王丰尧编著.滑模变结构控制.北京:机械工业出版社,1995
[10] 郭庆鼎,王成元,周美文,孙廷玉编著.直线交流伺服系统的精密控制技术.北京:机械工业出版社,2000
[11] 赵会,万淑芸,王离九等.交流调速系统的一种新型滑模控制器.电工技术学报,1995(3)
[12] 王声远,霍伟.一种新的自适应模糊控制器设计方法.控制与决策,2001(1)
[13] Xinkai Chen. Adaptive Quasi-Sliding-Mode Tracking Control for Discrete Uncertain Input-Output Systems. IEEE Transactions on Industrial Electronics. 2001
[14] G. D. ANDREESCU, A. POPA, A. SPILCA. Two Sliding Mode Based Observers for Sensorless Control of PMSM Drives. Electric Power Components and Systems. 2002, (30): 121～133
[15] M. Chakravarthini Saaj, Bandyopadhyay and Heinz Unbehauen. A New Algorithm for Discrete-Time Sliding-Mode Control Using Fast Output Sampling Feedback.. IEEE Transactions on Industrial Electronics. 2002, 6(49)
[16] Feijun Song and Samuel M. Smith. Design of Sliding Mode Fuzzy Controllers for an Autonomous Underwater Vehicle without System Model. Florida Atlantic University. 1999
[17] Mihai Cernat and Vasile Comnac etcs. Sliding Mode Control of Interior Permanent Magnet Synchronous Motors. CIEP 2000, 10
[18] Cem Unsal and Pushkin Kachroo. Sliding Mode Measurement Feedback Control for Antilock Braking Systems. IEEE Transactions on Control System Technology. 1999, 3
[19] Chih-Min Lin, Chan-Fei Hsu. Self-Learning Fuzzy Sliding-Mode Control for Antilock Braking Systems. IEEE TRANSACTIONS ON CONTROL SYSTEMSTECHNOLOGY.2003, 3(2)
[20] Amuliu Bogdan Proca, Ali Keyhani and John M. Miler. Sensorless Sliding-Mode Control of Induction Motors Using Operating Condition Dependent Models. IEEE Transactions on Energy Conversion. 2003, 6(18)
[21] 呈仁洪,涂生.电机调速系统中的滑模变结构控制器设计方法.南开大学学报,1998(4)
[22] 胡剑波,褚健.一种连续可导的滑模变结构近似算法及其仿真研究.系统仿真学报,2001,7(4)
[23] 吴东苏,闵松,万淑芸等.基于滑模变结构控制的高精度交流伺服系统的设计与仿真.计算技术与自动化,2001,9(3)
[24] 冯力.滑模变结构控制系统设计.辽宁工学院学报,1995,3
[25] 陈志晦,张井岗,曾建潮.交流伺服系统的积分模糊控制.电机与控制学报,1999(1)
[26] P. Zlateva. Sliding-Mode Control of Fermentation Processes. BioproceEngineering. 1997,(16):383～387
[27] Ying Jen Huang and Hang-Kang Way. Design of sliding surfaces in variable struture control via a direct pole assignment scheme. International Journal of Systems Science, 2001(32):963～969
[28] S Tokat, Ib Eksin, M Guzelkaya. A new design method for sliding mode controllers using a linear time-varying sliding surface. Proc Instn Mech Engrs. 2002(2): 455～466
[29] 陈玉宏.抑制抖振的新方法—滑模变结构控制切换面H∞优化设计.四川轻化工学院学报.1997,9(3)
[30] M. Onder Efe, Okay Kaynak and Bogdan M. Wilamowski. Creating a Silding Mode in a Motion Control System by Adopting a Dynamic Defuzzification Strategy in an Adaptive Neuro Fuzzy Inferece System. IEEE 2000
[31] Jiang Zhiming, Wang Shengwei, Lin Tingqi. Variable structure control of electrohydraulic servo systems using fuzzy CMAC neural network. Transactions of the Institute of Measurement and Control. 2003, (3): 185～201
[32] W. -D. Chou, F. -J. gin, K. -K. Shyu. Incremental motion control of an induction motor servo drive via a genetic-algorithm-based sliding mode controller. IEE Proceedings.2003, 4(3)
[33] 郑怀林,陈维南.基于遗传算法的模糊滑模控制器设计.电气传动,2000,1
[34] 傅春,谢剑英.模糊滑模控制研究综述.信息与控制,2001,10(5)
[35] 赵金,杨璐,万淑芸.交流调速系统的一种模糊滑模控制器.华中理工大学学报,2000,12(12)
[36] Q. P. Ha, D. C. Rye, H. F. Durrant-Whyte. Fuzzy Moving Sliding Mode Control with Application to robotic manipulators. Automatica. 1999, (35): 607～616
[37] Q. P. Ha, Q. H. Nguyen ect.. Fuzzy Sliding-Mode Controllers with Applications. IEEE transactions on Industrial Electronics, 2001, 2(48)
[38] Spyros G. Tzafestas, Gerasimos G. Rigatos. Design and Stability Analysis of a New Sliding-Mode Fuzzy Logic Controller of Reduced Complexity. Machine Intelligence & Robotic Control. 1999(1): 27～41
[39] 孙宜际,郭庆鼎.交流直线伺服系统模糊变结构控制.沈阳工业大学学报,2002
[40] 秦勇,贾利民,张锡第.基于模糊穴的多变量模糊滑模控制器.中国铁道科学,1997,3(1)
[41] 姚俊,马松辉编著.Simulink建模与仿真.北京:西安电子科技大学出版社,2002
[42] 葛锁良,王孝武.滑模变结构系统设计.合肥工业大学学报,1999(1)
[43] 孙增圻,张再兴,邓志东编著.智能控制理论与技术.北京:清华大学出版社,1997
[44] 曹承志编著.微型计算机控制新技术.北京:机械工业出版社,2000
[45] 张昌凡,王耀南.滑模变结构的智能控制及其应用.电机工程学报,2001(3)
[46] S Tokat, Ib Eksin, M Guzelkaya. A new design method for sliding mode controllers using a linear time-varying sliding surface. Proc Instn Mech Engrs. 2002(2): 455～466