Robust finite time control method of permanent magnet synchronous motor servo system

Abstract

The invention discloses a robust finite time control method of a permanent magnet synchronous motor servo system, with input saturation constraints. The robust finite time control method includes thefollowing steps: establishing a mechanical dynamic model of the permanent magnet synchronous motor servo system; and designing an anti-saturation finite time sliding mode control law. The invention provides a robust finite time control method with input saturation constraints, for solving the problem of tracking and control of the permanent magnet synchronous motor servo system has a non-linear nondeterminacy factor of model parameters and input saturation constraints. The robust finite time control method of a permanent magnet synchronous motor servo system achieves the effect of short adjusting time and high robustness, and can effectively eliminate the adverse influence of input saturation constraints on the system tracking control performance.

Description

technical field [0001] The invention relates to the field of motor system control methods, in particular to a robust finite-time control method for a permanent magnet synchronous motor servo system. Background technique [0002] In recent years, due to the advantages of small size, low cost, high execution efficiency, large output torque, and good speed regulation performance, permanent magnet synchronous motors have been widely used in servo systems of robots and high-precision CNC machine tools. However, in the actual servo system, there are uncertain factors such as system friction, motor parameter changes, electromagnetic interference and load disturbance, as well as input saturation constraints of the actuator of the servo system. The existence of these problems will not only seriously affect the control accuracy of the system, It may even cause system instability. Therefore, how to better deal with the uncertainty factors and input saturation constraints of the servo ...

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Problems solved by technology

[0003] The actuator in the permanent magnet synchronous motor servo system is limited by physical conditions. When the output signal of the controller is too large, the output of the actuator will enter a nonlinear saturation state, and the signal output by the controller is inconsistent with the signal actually received by the controlled object. Phenomenon, which will lead to the decline of system control performance and even cause system instability

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