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超声电机非线性多步预测自校正转速控制

, PP. 66-72

Keywords: 超声电机,转速控制,动态非线性模型,多步预测控制,自校正控制

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Abstract:

基于电机动态响应过程的实验数据,建立了以电机驱动频率为输入、转速为输出的超声电机驱动系统哈默斯坦(Hammerstein)非线性模型,用粒子群算法辨识模型参数。在该模型的基础上,求取模型非线性部分的逆,使超声电机的主要非线性特性得到在线补偿;随后,设计了超声电机非线性多步预测自校正转速控制策略,并给出了控制器参数的整定方法。该策略采用滚动预测、优化及在线自校正方法,以应对超声电机的未建模非线性。扰动情况下的实验,表明了所提控制策略的有效性及鲁棒性。

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