近极限动态可行域约束下永磁伺服电机系统时间最优轨迹规划方法
作者:
作者单位:

重庆大学输变电装备技术全国重点实验室

中图分类号:

TM32???????

基金项目:

国家重点研发计划项目;国家自然科学基金项目


Time-Optimal Trajectory Planning for PMSM Servo Systems under Near-Limit Dynamic Constraints
Author:
Affiliation:

National Key Laboratory of Power Transmission and Distribution Equipment Technology,Chongqing University

Fund Project:

National Key Research and Development Program of China, National Natural Science Foundation of China

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    摘要:

    针对永磁同步电机(PMSM)传统伺服轨迹规划方法在额定设计约束下未能充分发挥电机快速性能的问题,提出了一种在短时过载动态可行域约束下的时间最优轨迹规划方法。首先,基于PMSM损耗功率与速度、加速度等运动参数的关系,基于庞特里亚金极大值原理推导电机在伺服运行过程中损耗最低的轨迹方程。然后,考虑PMSM损耗功率(电流)和母线电压约束重构伺服电机系统动态可行域,提出全路程自适应的时间最优轨迹方程系数求解方法。最后,搭建了伺服电机系统实验平台,测试了PMSM在全路程工况下时间最优轨迹的运行状态,对比了弱磁控制下的梯形曲线轨迹的伺服响应速度。实验结果表明,本文提出的轨迹规划方法在不同路程工况下,伺服响应速度均优于传统轨迹规划方法,可节省6.7%到9.05%定位时间。

    Abstract:

    Aiming at the problem that the traditional servo - trajectory planning methods for permanent - magnet synchronous motors (PMSMs) fail to fully utilize the fast performance of the motors under the constraints of rated design, a time - optimal trajectory planning method under the constraints of the short - time overload dynamic feasible region is proposed. Firstly, based on the relationship between the motor"s loss power and motion parameters such as speed and acceleration, the trajectory equation that minimizes the motor"s loss during the servo process is derived using the Pontryagin"s maximum principle. Then, by combining the loss power (current) and bus voltage constraints, the dynamic feasible domain of the servo motor system is reconstructed, and a method for solving the coefficients of the time-optimal trajectory equation that adapts to different angular paths is proposed. Finally, an experimental platform for the servo motor system is set up, and the servo response speeds under the trapezoidal curve trajectory with field-weakening control and the proposed strategy are compared. The experimental results show that the trajectory planning method proposed in this paper outperforms traditional trajectory planning methods in terms of servo response speed under different angular path conditions, saving 6.7% to 9.05% of the positioning time.

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  • 收稿日期:2025-02-15
  • 最后修改日期:2025-04-02
  • 录用日期:2025-04-29
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