中文摘要：

针对开关磁阻电机伺服系统模型存在不确定性的问题,引入一种基于扩张状态观测器的增益修正H∝鲁棒设计方法来设计伺服系统控制器,回避了传统控制器设计中对系统模型精确建模的要求.将系统模型中的不确定性作为系统扰动,利用扩张状态观测器动态估计系统扰动,并进行前馈补偿,近似消除了系统模型的不确定性和耦合部分,实现了系统中转速环与电流环之间的解耦,使系统模型简化为两个单输入单输出模型.在此模型基础上,采用增益修正H∝鲁棒控制设计方法设计解耦系统的控制器.仿真结果表明,该控制系统具有良好的动态性能,对负载扰动能够动态估计和补偿,具有良好的鲁棒性,可以实现高性能控制.该方法设计的控制器简单实用,可以推广到实际电机控制工程应用中.

英文摘要：

A loop shaping H∝ robust control method based on extended state observer is uesigned for switched reluctance servo driving system with model uncertainty. This control strategy avoids accurately modeling of system in traditional controller. Uncertainties of system model are viewed as disturbances. Extended state observers are designed for the current loop and the speed loop of the servo driving system to estimate and compensate unknown disturbances of model, and the system is then deeoupled. Then the loop shaping H∝ robust control method is used to design controllers for the estimated model. Controllers are completely detached. Simulation results show that the servo driving system based on controllers designed by the new method has good performance and robustness to model uncertainties. The method is easy to realize and can be expended to actual engineering application.