弹道修正弹无位置传感器伺服系统智能控制

项目名称： 弹道修正弹无位置传感器伺服系统智能控制

项目编号： No.61304097

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 甘明刚

作者单位： 北京理工大学

项目金额： 23万元

中文摘要： 无位置传感器无刷直流电机智能控制技术可以克服位置传感器带来的结构复杂、可靠性低，无法在恶劣环境中工作等缺点；解决其关键问题，对于解决小口径弹道修正姿态控制具有十分重要的意义。针对无位置传感器伺服控制系统的多变量、非线性、参数不确定性、时变性、随机负载扰动大等问题，本课题拟在智能控制统一框架下，研究该系统的智能控制，设计基于状态观测器、负载扰动观测器的智能控制系统，保证系统在非充分激励条件下具有良好的瞬态性能和稳定性。运用具有鲁棒性和自适应性的在线估计方法，对电机位置和速度状态进行估计与误差补偿；依据参数以及状态估计的误差界，设计非线性控制律使得系统的lyapunov函数在一定范围内保持负定性质，且系统有良好的瞬态性能与鲁棒性。构建负载转矩观测器，以充分抑制电机的负载扰动和参数不确定性，增强系统的鲁棒性。并针对实际需求，构造无位置传感器的电机驱动系统智能控制器，解决小口径修正这一难题。

中文关键词： 弹道修正弹；无位置传感器；智能控制；；

英文摘要： Intelligent control technology of sensorless brushless DC motor can overcome the shortcomings brought about by the position sensor, such as structural complexity, low reliability, and inability to work in harsh environments and so on. Solving the key problem is greatly significant to the attitude correction control of small-caliber trajectory. For position sensorless servo control system with multivariate, nonlinear, parameter uncertainty, time-varying and random load disturbances, the subject intends to research the intelligent control under Lyapunov unified framework. The intelligent control system is designed based on state observer and load disturbance observer, which can ensure that the system has good transient performance and stability under the conditions of non-sufficient incentive. Use online estimation method with robustness and adaptability to estimate and compensate the motor position and velocity state. According to parameters and error bounds of state estimation, nonlinear control law of the system is designed, that make the Lyapunov function keep negative set properties in a certain range, and the system has good transient performance and robustness. Restrain the motor load disturbance and parameter uncertainty, and enhance the robustness of the system by construction of the load torque observ

英文关键词： Trajectory Correction projectile；Sensorless；Intelligent Control；；