工业机器人分数阶永磁同步电机模型的二维控制

IF 4.2 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Electric Power Systems Research Pub Date : 2025-07-09 DOI:10.1016/j.epsr.2025.111963

Bitao Zhang , Weicheng Zhang , Haobo Luo

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引用次数: 0

摘要

研究了应用于工业机器人的永磁同步电机的控制性能优化问题。提出了一种用于永磁同步电机q轴电流调节的高性能控制策略。首先，建立了q轴电流动力学的分数阶模型。基于重复过程理论，设计了一种集成自适应学习机制的二维控制系统，并采用低通滤波器保证闭环稳定性。随后，利用重复控制的连续性和Lyapunov稳定性理论，将两个充分的稳定性判据表述为线性矩阵不等式（lmi）。利用这些基于lmi的条件，开发了一种迭代优化算法来确定低通滤波器的最大截止频率和反馈控制增益的最佳组合。数值仿真和工业机器人应用的PMSM电机模型验证表明，与传统算法相比，该方法具有更好的控制性能，在动态条件下保持了0.55%的最大超调量和0.001588的峰值跟踪误差。

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Two-dimensional control of a fractional-order permanent magnet synchronous motor model for industrial robots

This paper addresses the optimization of control performance for permanent magnet synchronous motors (PMSMs) applied in industrial robots. A high-performance control strategy is proposed for the Q-axis current regulation of PMSMs. Initially, a fractional-order model for the Q-axis current dynamics is constructed. A two-dimensional control system integrating adaptive learning mechanisms is designed based on repetitive process theory, incorporating a low-pass filter to ensure closed-loop stability. Subsequently, by leveraging the repetitive control's continuity property and Lyapunov stability theory, two sufficient stability criteria are formulated as linear matrix inequalities (LMIs). Using these LMI-based conditions, an iterative optimization algorithm is developed to determine the optimal combination of the low-pass filter's maximum cutoff frequency and feedback control gains. Numerical simulations and PMSM motor model validations for industrial robotic applications demonstrate that the proposed approach achieves superior control performance compared to traditional algorithms, maintaining a maximum overshoot of 0.55 % and a peak tracking error of 0.001588 under dynamic conditions.

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来源期刊

Electric Power Systems Research 工程技术-工程：电子与电气

CiteScore

7.50

自引率

17.90%

发文量

963

审稿时长

3.8 months

期刊介绍： Electric Power Systems Research is an international medium for the publication of original papers concerned with the generation, transmission, distribution and utilization of electrical energy. The journal aims at presenting important results of work in this field, whether in the form of applied research, development of new procedures or components, orginal application of existing knowledge or new designapproaches. The scope of Electric Power Systems Research is broad, encompassing all aspects of electric power systems. The following list of topics is not intended to be exhaustive, but rather to indicate topics that fall within the journal purview. • Generation techniques ranging from advances in conventional electromechanical methods, through nuclear power generation, to renewable energy generation. • Transmission, spanning the broad area from UHV (ac and dc) to network operation and protection, line routing and design. • Substation work: equipment design, protection and control systems. • Distribution techniques, equipment development, and smart grids. • The utilization area from energy efficiency to distributed load levelling techniques. • Systems studies including control techniques, planning, optimization methods, stability, security assessment and insulation coordination.