Li Menghan, Li Shaobo, Zhang Junxing, Wu Fengbin, Zhang Tao
School of Mechanical Engineering, Guizhou University, Guiyang 550025, China.
State Key Laboratory of Public Big Data, Guizhou University, Guiyang 550025, China.
Entropy (Basel). 2022 Jul 26;24(8):1028. doi: 10.3390/e24081028.
This paper suggests an adaptive funnel dynamic surface control method with a disturbance observer for the permanent magnet synchronous motor with time delays. An improved prescribed performance function is integrated with a modified funnel variable at the beginning of the controller design to coordinate the permanent magnet synchronous motor with the output constrained into an unconstrained one, which has a faster convergence rate than ordinary barrier Lyapunov functions. Then, the specific controller is devised by the dynamic surface control technique with first-order filters to the unconstrained system. Therein, a disturbance-observer and the radial basis function neural networks are introduced to estimate unmatched disturbances and multiple unknown nonlinearities, respectively. Several Lyapunov-Krasovskii functionals are constructed to make up for time delays, enhancing control performance. The first-order filters are implemented to overcome the "complexity explosion" caused by general backstepping methods. Additionally, the boundedness and binding ranges of all the signals are ensured through the detailed stability analysis. Ultimately, simulation results and comparison experiments confirm the superiority of the controller designed in this paper.
本文提出了一种带有干扰观测器的自适应漏斗动态表面控制方法，用于具有时滞的永磁同步电机。在控制器设计之初，将改进的预设性能函数与修正的漏斗变量相结合，把输出受限的永磁同步电机协调为无约束电机，其收敛速度比普通障碍Lyapunov函数更快。然后，通过动态表面控制技术和一阶滤波器为无约束系统设计具体的控制器。其中，引入干扰观测器和径向基函数神经网络分别估计非匹配干扰和多个未知非线性项。构造了多个Lyapunov-Krasovskii泛函来补偿时滞，提高控制性能。采用一阶滤波器克服常规反步法引起的“复杂性爆炸”。此外，通过详细的稳定性分析确保了所有信号的有界性和约束范围。最终，仿真结果和对比实验证实了本文所设计控制器的优越性。
