| High performance servo systems are widely used in automatic production lines,CNC machine tools,robots,aerospace equipment and other fields,but the dynamic performance and steady performance of servo systems are contradictory.Taking permanent magnet synchronous motor(PMSM)as the research object,this paper systematically establishes the cooperative control principle based on signal transformation and energy transformation.The design methods of signal controller,energy controller and cooperative control scheme are given.The signal controller is applied to quickly reduce the tracking error,and the energy controller is implemented to realize the optimal control of energy efficiency in steady-state operation.The cooperative control scheme is used to combine the advantages of the two and ensure that the control signals change continuously and smoothly without jumping in the process of controller switching.First,the cooperative control method based on deadbeat prediction and port-controlled Hamiltonian is proposed.On the one hand,the deadbeat prediction control(DBPC)method is applied to design the signal controller,so that the actual currents reach the reference values in the minimum steps.On the other hand,based on the Hamiltonian model of PMSM,the desired energy function is derived to achieve a good steady-state response.Then the cooperative control scheme is designed to realize the complementary advantages of deadbeat controller and port-controlled Hamiltonian controller.Each control method can be effectively used in the corresponding operation range.Moreover,in order to achieve faster dynamic response,the feedback linearization(FBL)method is applied to improve the design of signal controller.Then,taking into account the energy consumption generated by the long-time operation of the motor,a new Hamiltonian model considering the losses is established by using the loss minimization method,so as to optimize the input energy,output energy and loss energy of the whole system.Combined with the cooperative function,the cooperative control system based on feedback linearization and port-controlled Hamiltonian is established,which realizes fast dynamic regulation and highefficient steady operation,thus making up for the shortage of the single control methods.Furthermore,sensorless control is introduced into the cooperative control system,and an adaptive super-twisting high-order sliding mode observer is proposed.Only one observer is designed to simultaneously estimate rotor position and speed,as well as track the system disturbances caused by parameter mismatch in real-time,which not only enhances the robustness of the system against parameter uncertainties,but also simplifies the model structure.In addition,the particle swarm optimization(PSO)algorithm is applied to reasonably select the control parameters,which avoids a tedious trial and error process.Meanwhile,by comparing the performances of several typical cooperative functions,the optimized cooperative function under certain conditions is obtained to achieve the conditional optimal cooperative control.Finally,a PMSM control system based on optimal cooperative controller and sensorless observer is constructed,thereby realizing the high-performance optimal cooperative control without sensor.To sum up,this paper presents three cooperative control schemes for PMSM servo system and continuously improves them,so that the system can simultaneously combine the advantages of signal control and energy control to realize the rapid adjustment of dynamic speed and position and the optimized control of steady-state energy.The experimental comparison results of the three cooperative control schemes under various working conditions are given in this paper.The results show that the cooperative control method has better comprehensive performance in dynamic response speed,steady-state accuracy and efficiency.The theoretical innovation and engineering application value of all the algorithms proposed in this paper are verified. |
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