基于有限時間濾波控制的電機驅動系統結構/控制一體化設計

摘要: 針對電機驅動系統進行了基于有限時間控制器的結構/控制一體化設計.針對電機驅動系統跟蹤控制問題，采用有限時間收斂方法設計了跟蹤控制器.考慮系統狀態信息不可測的情況，設計了有限時間濾波控制器，在估計系統速度信息的同時實現了有限時間跟蹤控制.為進一步提升系統控制性能，考慮結構與控制之間存在的耦合問題，對電機驅動系統進行結構/控制一體化設計.首先針對電機驅動系統設計了同時考慮結構優化和控制器優化的一體化性能指標.所設計一體化性能指標能夠在滿足控制性能要求的同時，得到所能驅動的最大負載.同時優化系統的結構參數與控制器參數能夠使控制系統達到全局最優，從而取得良好的控制效果.隨后，采用嵌套優化策略對電機驅動系統的一體化設計問題進行簡化，采用自適應步長的布谷鳥搜索算法對控制器參數優化問題進行求解，得到了一體化最優解.通過數值仿真驗證了所提方法的有效性.
- 電機驅動系統 /
- 有限時間控制 /
- 狀態估計 /
- 結構/控制一體化設計 /
- 嵌套優化策略
Abstract: Recently, motor driving systems have been widely applied in the military and industries. Load tracking control is one of the commonly considered issues in such systems. In this study, a plant/controller co-design based on finite-time control was developed for the motor driving system. A finite-time convergent controller was also presented to address the tracking problem in the motor driving system. Because the system state was unknown, a filter was developed to estimate the velocity of the load. The overall system, including the tracking controller and filter, is proven to be finite-time stable. Hence, the upper bound of the convergence time can be determined. To enhance the control performance of the motor driving system, the coupling between plant and controller is considered and a co-design scheme was developed for the motor driving system. First, a combined performance index, which could indicate the largest load with satisfactory control performance, was established. Both the plant and controller parameters were considered in the developed performance index to simultaneously optimize the plant and controller. Through this optimization, the system-level optimality can be determined and a better control performance can be achieved. Moreover, a nested optimization strategy was adopted to simplify the co-design scheme and an adaptive cuckoo search algorithm was used to achieve the co-design result. Through the nested optimization scheme, the controller parameter is optimized in the inner loop and the plant parameter can be optimized in the outer loop. The cuckoo search algorithm exhibits a superior performance because it has fewer parameters that need to be tuned than most existing algorithms. Hence, the co-design problem can be simplified and resolved reliably using the proposed method. Contrastive simulation results indicates the efficacy of the proposed method.
- motor driving system /
- finite-time control /
- system state estimation /
- plant/controller co-design /
- nested optimization strategy

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圖 1 電機驅動系統框圖

Figure 1. Block diagram of the motor driving system

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圖 2 電機驅動系統跟蹤性能

Figure 2. Tracking performance of the motor driving system

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圖 3 電機驅動系統跟蹤誤差

Figure 3. Tracking error of the motor driving system

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圖 4 電機驅動系統控制輸入

Figure 4. Control input of the motor driving system

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圖 5 驅動不同負載的控制性能比較

Figure 5. Tracking performance of the motor driving system with different plant parameters

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表 1 電機驅動系統參數

Table 1. System parameters of the motor driving system

b_L/
(Nm·s·rad^－1) b_m/
(Nm·s·rad^－1) k/
(Nm·rad^－1) δ/rad J_m/
(kg·m²)

1.2 1.3 56 0.2 0.028

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