弹道修正弹无位置传感器伺服系统智能控制

Intelligent control technology of sensorless brushless DC motor can overcome the shortcomings brought about by the position sensor, such as structural complexity, low reliability, and inability to work in harsh environments and so on. Solving the key problem is greatly significant to the attitude correction control of small-caliber trajectory. For position sensorless servo control system with multivariate, nonlinear, parameter uncertainty, time-varying and random load disturbances, the subject intends to research the intelligent control under Lyapunov unified framework. The intelligent control system is designed based on state observer and load disturbance observer, which can ensure that the system has good transient performance and stability under the conditions of non-sufficient incentive. Use online estimation method with robustness and adaptability to estimate and compensate the motor position and velocity state. According to parameters and error bounds of state estimation, nonlinear control law of the system is designed, that make the Lyapunov function keep negative set properties in a certain range, and the system has good transient performance and robustness. Restrain the motor load disturbance and parameter uncertainty, and enhance the robustness of the system by construction of the load torque observer. And in the light of the actual demand, construct motor drive system intelligent controller of sensorless to solve the difficult fixed problem for medium and small diameter.

无位置传感器无刷直流电机智能控制技术可以克服位置传感器带来的结构复杂、可靠性低，无法在恶劣环境中工作等缺点；解决其关键问题，对于解决小口径弹道修正姿态控制具有十分重要的意义。针对无位置传感器伺服控制系统的多变量、非线性、参数不确定性、时变性、随机负载扰动大等问题，本课题拟在智能控制统一框架下，研究该系统的智能控制，设计基于状态观测器、负载扰动观测器的智能控制系统，保证系统在非充分激励条件下具有良好的瞬态性能和稳定性。运用具有鲁棒性和自适应性的在线估计方法，对电机位置和速度状态进行估计与误差补偿；依据参数以及状态估计的误差界，设计非线性控制律使得系统的lyapunov函数在一定范围内保持负定性质，且系统有良好的瞬态性能与鲁棒性。构建负载转矩观测器，以充分抑制电机的负载扰动和参数不确定性，增强系统的鲁棒性。并针对实际需求，构造无位置传感器的电机驱动系统智能控制器，解决小口径修正这一难题。

无位置传感器无刷直流电机智能控制技术可以克服位置传感器带来的结构复杂、可靠性低，无法在恶劣环境中工作等缺点；解决其关键问题，对于解决小口径弹道修正姿态控制具有十分重要的意义。针对无位置传感器伺服控制系统的多变量、非线性、参数不确定性、时变性、随机负载扰动大等问题，本项目在李雅普诺夫稳定性统一框架下，研究智能控制，设计基于状态观测器、扰动观测器的智能控制系统，保证系统在非充分激励条件下具有良好的瞬态性能和稳定性。.本项目主要研究了如下几个内容：.1..新型的参数估计方法：.(1).一种基于新型扩展卡尔曼滤波器的无刷直流电机状态观测方法；.(2).一种新型的滑模观测器；.(3).一种基于自适应非线性扩展观测器的无位置无刷直流电机估计; .(4).一种宽速滑模观测器。.2..基于参数估计的无位置传感器无刷直流电机的控制方法：.(1).一种基于LESO的扰动观测器和非奇异终端滑模位置环控制器的复合控制器；.(2).一种具有参数重置的多模型自适应鲁棒动态面控制方法；.(3).一种直流无刷电机多模型自适应控制的模型切换技术；.(4).一种基于扰动观测器和滑模控制器的复合控制策略。.上述内容针对实际需求，构造了无位置传感器的电机驱动系统的智能控制器，解决小口径修正这一难题。