基于虚拟样机建模的永磁球形电机自适应反演协同控制研究

Permanent magnet spherical motor has become increasingly popular for the current multi-dimensional high precision electromechanical drive. However, due to the disadvantages of its dynamics modeling and control, it has always been restricted. On the basis of preliminary studies, a novel dynamics modeling and adaptive backstepping collaborative control scheme was presented. The main content include: Firstly, the dynamics model was established based on the virtual prototyping technology. Through the visual simulation and post-processing platform, its dynamic coupling characteristics and motion law considering typical working conditions such as no-load, load and contact friction were analysized. Secondly, considering the influence of external disturbances and unmodeled uncertainties, two robust control strategies based on adaptive DSC-backstepping were proposed. In order to compensate friction, we used the adaptive fuzzy logic system (AFLS) that has the capability to approximate any nonlinear functions. In order to reduce the influence of the external disturbances, disturbance observer based (DOB) was used. Sliding mode control was adopted to improve system robustness and response. Both of them can realize continuous tracking control with stability and high-precision. Thirdly, through the inter-process communication between mechanical and electrical subsystem, the dynamics model and control strategies were integrated. And then a mechatonics collaborative control platform was set up. Finally, Both hardware-in-the-loop simulation (HILS) and rapid control prototyping (RCP) technology were used to verify the accuracy of the platform. The achievements will not only provide new ideas and general strategy for dynamic modeling and control of permanent magnet spherical motor (PMSM) , but also have important theoretical significance and practical value.

永磁球形电机已成为当前多维高精度机电驱动的研究热点，然而其动力学建模的精确性与控制的鲁棒性始终是制约其产品化、实用化的主要技术瓶颈。本课题拟在前期研究基础上，提出一种基于虚拟样机技术的动力学建模与自适应反演协同控制方案。主要内容包括：（1）考虑空载、负载以及接触摩擦等典型工况，基于虚拟样机技术建立永磁球形电机动力学模型，通过可视化仿真和后处理平台分析该模型的动态耦合特性和运动规律。（2）针对外界扰动以及模型误差等不确定性因素的影响，提出基于动态面反演的自适应模糊补偿和带干扰观测器的自适应滑模两种控制策略，实现转子输出轴的连续、稳定、高精度控制。（3）通过子系统进程间的通讯将上述动力学模型与控制策略集成，建立机电一体化协同控制平台，并用硬件在环仿真和快速原型试验手段进行验证。本课题的顺利实施将为永磁球形电机动力学系统的建模与控制提供新思路和通用策略，具有重要的理论意义和实用价值。

随着现代工业技术水平的不断发展，机器人、机械臂、智能化柔性制造系统等需要在三维空间内作平稳、复杂运动的高精密伺服装置得到了广泛应用。这类装置通常由多台单自由度电动机以及复杂的传动机构组成。由于采用大量的减速齿轮，一方面导致系统体积增大，刚度降低。另一方面，受衍生的非线性摩擦、死区等不确定性因素的影响，控制系统响应迟缓、动态性能较差，严重时甚至影响整个运动控制系统的稳定性。因此，能实现多自由度运动的永磁球形电机一经提出立刻成为当前多维高精度机电驱动的研究热点。作为一种全新概念的特种电机，以往的研究热点主要集中在永磁球形电机的结构设计与优化、电磁场分析与转矩建模以及转子位置检测等方面，并取得大量有价值的研究成果。但由于永磁球形电机特殊的三维结构以及运动机理，其动力学建模的精确性与控制的鲁棒性始终是制约其产品化、实用化的主要技术瓶颈。因此，对永磁球形电机动力学系统的建模与控制展开研究具有十分重要的理论意义和实用价值。. 本项目的主要研究内容为：（1）永磁球形电机动力学系统的虚拟样机建模。（2）基于动态面技术的永磁球形电机自适应反演控制策略与仿真分析。（3）永磁球形电机机电一体化的协同控制平台。根据研究计划，本项目所取得的主要成果如下：（1）实现空载状态的永磁球形电机转子动力学系统虚拟样机建模与分析，通过可视化仿真和后处理平台揭示其运动规律。（2）结合典型运动工况，考虑摩擦以及重力因素完成虚拟样机模型优化及分析。（3）实现永磁球形电机周期性以及基于三次样条插值的连续轨迹规划。（4）针对非线性、强耦合的永磁球形电机轨迹跟踪闭环控制系统，提出基于Backstepping理论的自适应模糊控制方案。在此基础上，引入一阶滤波器，提出基于动态面技术的鲁棒自适应滑模控制方案。（5）提出一种基于LuGre动态摩擦补偿的自适应控制方案，达到摩擦补偿和轨迹跟踪的目的。考虑到上述基于数学模型的控制方案鲁棒性较差，提出一种基于分块RBF神经网络逼近的自适应滑模控制方案。以上方案均采用Lyapunov方法证实系统的稳定性。（6）基于MATLAB-ADAMS的联合仿真接口模块，搭建机电一体化协同控制平台，分别实现PD、滑模以及动态面等轨迹跟踪控制方案。. 综上所述，本项目的研究成果可为今后实现永磁球形电机连续、稳定、高精度的多自由度运动控制打下坚实基础。