电源状态变化下的伺服系统比例谐振优化控制设计

To address the coupling control problem between the power supply and the servo mechanism in high-dynamic electromechanical servo systems, a technique based on parameter-adaptive fuzzy quasi-proportional resonance control was presented. Firstly, mathematical model of the entire servo system was built under a global perspective, including the servo mechanism and lithium batteries, and the state of charge (SOC) of the battery was chosen as the coupling variable. An extended Kalman state observer was created to yield the precise SOC variation trend. Secondly, to meet control needs of the system, quasi-proportional resonance control was proposed to achieve indifferent steady tracking performance of AC and DC control signals. Thirdly, in order to realize the adaptive adjustment of control parameters, a fuzzy improved quasi-proportional resonance control method was designed using SOC and error variations as fuzzy variables. Simulation results demonstrate that under dynamic SOC variations, the proposed control strategy exhibits superior control performance in both time and frequency domains compared with conventional control methods, improving control performance by 50% . Specifically, it shows stronger robustness to SOC and temperature changes, enhancing fluctuations by 70%, and significantly improves robustness to pulsed and periodic disturbances, reducing the steady-state control error by 80% .