Optimization of AC Servo System Direct ON-OFF Pattern Generation Based on Variable Structure System

基于变结构系统的交流伺服系统直接开关模式生成的优化

• 批准号: 01460129
• 负责人: HARASHIMA Fumio
• 金额: $ 4.03万
• 依托单位: University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1989
• 资助国家: 日本
• 起止时间: 1989 至 1990
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-01460129/
• 关键词: AC Servo Motor; Variable Structure System; Observer; On-Off Pattern; Inventer; Robust Control; ロバマト制御; ACサ-ボモ-タ; ON-OFFパタン; インバ-タ

An AC servo system is controlled by the switching of power devices in a power converter. A control system using variable structure system realizes robust control Performance against parameter variation and nonlinearity in control system by changing control structure speedy depending on the state ofcontrol system.This project aims to develop the control method which directly generates on-off pattern of AC servo system. The AC motors controlled are an induction motor and a syncronouse motor.For the case of the syncronous motor, the magnetic pole position can be directly detected by the mechanical angle of the rotor. So, torque control can be achieved by adjusting the armature current in right-angle against the magnetic pole position. In this research, the detected signals are the mechanical angle and velocity of the rotor and the armature current. Depending on these detected signals, the On-Off pattern is generated directly by using Variable Structure System. The experimental results using a digital signal processor (DSP) show robust control performance.For the case of the induction motor, it is difficult to detect the magnetic pole position. Conventionally, state observers have been applied to detect the magnetic polse position. However, since the induction motor is a nonlinear system, the direct application of linear obsever may cause instability problems. In order to resolve the problem, an observer based on variable structure system has been developed. The simulation results show remarkably good control performance.

交流伺服系统由功率变换器中功率器件的开关控制。变结构控制系统是根据控制系统的状态快速地改变控制结构，实现对控制系统中参数变化和非线性的鲁棒控制，本课题旨在研究直接产生交流伺服系统开关模式的控制方法。控制的交流电动机为异步电动机和同步电动机，对于同步电动机，可以直接通过转子的机械角度来检测磁极位置。因此，转矩控制可以通过调节电枢电流与磁极位置成直角来实现。在本研究中，所检测的信号是转子的机械角和速度以及电枢电流。根据这些检测到的信号，开关模式直接通过使用变结构系统产生。实验结果表明，采用数字信号处理器（DSP）实现的控制具有较强的鲁棒性。传统上，状态观测器已被应用于检测磁极位置。然而，由于感应电动机是一个非线性系统，直接应用线性观测器可能会引起不稳定问题。为了解决这一问题，提出了一种基于变结构系统的观测器。仿真结果表明，该控制器具有良好的控制性能.

项目成果

H. Hashimoto, O. Kaynak, H. Kuroyanagai, Y. Deguchi, F. Harashima: "Prediction Based DC Servo Control System in Robotic Arm" IEEE IECON '90. 294-299 (1990)

H. Hashimoto、O. Kaynak、H. Kuroyanagai、Y. Deguchi、F. Harashima：“机器人手臂中基于预测的直流伺服控制系统”IEEE IECON 90。

原島 文雄: "DSPを用いたサ-ボシステムの予測制御(位置サ-ボ系による軌道追従実験)" 電気学会論文誌. 110ーD NO.9. 990-996 (1990)

Fumio Harashima：“使用 DSP 的伺服系统的预测控制（使用位置伺服系统的轨迹跟踪实验）”日本电气工程师协会学报 110-D NO.9（1990）。

H. Hashimoto, V. I. Utkin, J. X. Xu, H. Suzuki, F. Harashima :"VSS Observer for Linear Time Varying System" IEEE IECON '90. 34-39 (1990)

H. Hashimoto、V. I. Utkin、J. X. Xu、H. Suzuki、F. Harashima：“线性时变系统的 VSS 观测器”IEEE IECON 90。

Fumio Harashima: "VSS Observer for Linear Time Varying Sistem" IEEE IECON'90. Vol.1. 34-39 (1990)

Fumio Harashima：“线性时变系统的 VSS 观察器”IEEE IECON90。

Fumio Harashima: "Prediction Based DC Servo Control System in Robotic Arm" IEEE IECON'90. Vol.1. 294-299 (1990)

Fumio Harashima：“机器人手臂中基于预测的直流伺服控制系统”IEEE IECON90。