Considering The Effect Of Backlash And Uncertainty Permanent Magnet Ac Servo System Of High-performance Control Strategy Research

In order to overcome the influence of backlash on the performance of electromechanical system transmission,based on the three-phase AC permanent magnet synchronous motor(PMSM)as the control object,to establish the motor structure analysis and mathematical model as the basis,selecting the dead model expression of backlash transmission effect,effectiveness of the MATLAB model simulation test of backlash compensation controller with integral backstepping is proposed with the design of system hardware and software design for the experimental method,based on adaptive control theory of backstepping adaptive backlash compensation strategy.Firstly the structure of permanent magnet synchronous motor is analyzed,a mathematical model of permanent magnet synchronous motor ABC and two-phase rotating coordinate system DQ "0" under the three-phase static coordinate system;introduces several commonly used permanent magnet synchronous motor control strategy,through comprehensive analysis,vector selection based on rotor field oriented control as the control strategy of the system;consider the PMSM servo system parameters uncertainty effect,construct its mathematical model,the nonlinear backstepping control,adaptive backstepping controller design and stability analysis of the system by using Lyapunov stability theory,and through the simulation test.Then focus on the adaptive backstepping backlash compensation strategy,selecting the dead model expression of backlash transmission effect,the establishment of permanent magnet AC servo system mathematical model with backlash,backlash of the model,with unknown parameters of damping coefficient and stiffness coefficient driven online estimation,using Lyapunov stability theory,using reverse step integral method is to design adaptive law of each parameter,design a adaptive controller based on state feedback.Finally,the experimental method of MATLAB model simulation and system software and hardware design is used to verify the effectiveness of the proposed inverse step integral controller.It is proved that the anti step adaptive backlash compensation strategy can make the servo system have better control precision and dynamic response performance,and the theory and simulation analysis are verified.