基于虚拟样机建模的永磁球形电机自适应反演协同控制研究

项目名称： 基于虚拟样机建模的永磁球形电机自适应反演协同控制研究

项目编号： No.51307001

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 电工技术

项目作者： 过希文

作者单位： 安徽大学

项目金额： 25万元

中文摘要： 永磁球形电机已成为当前多维高精度机电驱动的研究热点，然而其动力学建模的精确性与控制的鲁棒性始终是制约其产品化、实用化的主要技术瓶颈。本课题拟在前期研究基础上，提出一种基于虚拟样机技术的动力学建模与自适应反演协同控制方案。主要内容包括：（1）考虑空载、负载以及接触摩擦等典型工况，基于虚拟样机技术建立永磁球形电机动力学模型，通过可视化仿真和后处理平台分析该模型的动态耦合特性和运动规律。（2）针对外界扰动以及模型误差等不确定性因素的影响，提出基于动态面反演的自适应模糊补偿和带干扰观测器的自适应滑模两种控制策略，实现转子输出轴的连续、稳定、高精度控制。（3）通过子系统进程间的通讯将上述动力学模型与控制策略集成，建立机电一体化协同控制平台，并用硬件在环仿真和快速原型试验手段进行验证。本课题的顺利实施将为永磁球形电机动力学系统的建模与控制提供新思路和通用策略，具有重要的理论意义和实用价值。

中文关键词： 永磁球形电机；虚拟样机建模；自适应反演；协同控制；轨迹规划

英文摘要： Permanent magnet spherical motor has become increasingly popular for the current multi-dimensional high precision electromechanical drive. However, due to the disadvantages of its dynamics modeling and control, it has always been restricted. On the basis of preliminary studies, a novel dynamics modeling and adaptive backstepping collaborative control scheme was presented. The main content include: Firstly, the dynamics model was established based on the virtual prototyping technology. Through the visual simulation and post-processing platform, its dynamic coupling characteristics and motion law considering typical working conditions such as no-load, load and contact friction were analysized. Secondly, considering the influence of external disturbances and unmodeled uncertainties, two robust control strategies based on adaptive DSC-backstepping were proposed. In order to compensate friction, we used the adaptive fuzzy logic system (AFLS) that has the capability to approximate any nonlinear functions. In order to reduce the influence of the external disturbances, disturbance observer based (DOB) was used. Sliding mode control was adopted to improve system robustness and response. Both of them can realize continuous tracking control with stability and high-precision. Thirdly, through the inter-process communicatio

英文关键词： permanent magnet spherical motor (PMSM)；virtual prototype modeling (VPT)；adaptive backstepping；collaborative control；trajectory planning