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针对使用永磁同步电机作为执行机构的高精度交流调速系统中存在负载惯量时变、转矩扰动和未建模动态的情况,利用带遗忘因子的递推最小二乘算法(FRLS)在线辨识系统时变参数,通过扩张状态观测器(ESO)观测参数辨识误差和未建模动态等非线性因素,设计一种集PI控制器、基于FRLS的补偿器、基于ESO的补偿器和鲁棒控制器的复合速度控制器,并分析了闭环调速系统的稳定性.仿真结果验证了该复合速度控制器的有效性.
Aiming at the problems of time-varying load inertia, torque disturbance and unmodeled dynamic in high-precision AC speed regulation system with permanent magnet synchronous motor, the recursive least squares algorithm with forgetting factor (FRLS) The system time-varying parameters are designed based on the non-linear factors such as the identification error and the unmodeled dynamics of the extended state observer (ESO), and a PI controller, FRLS-based compensator, ESO-based compensator and robust control , And analyzed the stability of the closed-loop speed control system.The simulation results verify the effectiveness of the composite speed controller.