中文摘要：

高性能的永磁同步电机伺服系统要求快速响应的电流内环来满足系统的高性能要求。经典PID控制容易出现滞后、振荡等问题,而传统预测控制可以实现对指令信号无超调的快速跟踪,但对控制对象的精确数学模型有很强的依赖性。提出的基于扩展卡尔曼滤波的预测控制方法,利用扩展卡尔曼滤波器具有的估计、滤波的优势,降低了预测控制对控制对象数学模型参数的依赖性;同时,相对于PID控制,改进的方法实现了指令信号无超调的快速跟踪,动静态性能得到了提高,电机低速运行噪声大的问题也得到了很好的解决。试验结果验证了该算法的有效性和实用性。

英文摘要：

In order to meet the high performance requirements of the system, high performance permanent magnet synchronous motor servo system required fast response current inner loop. Classical PID control was prone to lag, oscillation and so on. But the traditional predictive control could achieve fast tracking of the command signal without overshoot, which had a strong dependence on the accurate mathematical model of the control object. A predictive control method based on extended Kalman filter was proposed, the extended Kalman filter had the advantages of the estimation and filtering, which reduced the dependence of the predictive control on the mathematical model parameters of the control object. At the same time, compared with PID control, the improved method has realized the fast tracking of the command signal without overshoot, and the dynamic and static performance has been improved, motor at low speed running noise big problem also got a good solution. The experimental results showed that the algorithm was effective and practical.