考虑摩擦特性的PMSM模型预测直接速度控制

宋哲; 曹轩; 周威宏; 邹甲; 刘东

doi:10.12382/bgxb.2025.0928

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考虑摩擦特性的PMSM模型预测直接速度控制

更新时间：2026-04-30

- 考虑摩擦特性的PMSM模型预测直接速度控制
- Model Predictive Direct Speed Control of PMSM Considering Friction Characteristics
- 兵工学报 2026年
- 作者机构：
  
  1. ．中国矿业大学（北京）机械与电气工程学院,北京,100083
  2. ．长沙矿山研究院有限责任公司,湖南,长沙,410012
- 作者简介：
- 基金信息：
  
  国家自然科学基金项目(52305541);中央高校基本科研业务费资助项目(2026XJJSJD02)
- DOI：10.12382/bgxb.2025.0928
  中图分类号： TM341
- 收稿：2025-10-17，
  
  网络首发：2026-04-30，
- 稿件说明：
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宋哲，曹轩，周威宏，等. 考虑摩擦特性的PMSM模型预测直接速度控制[J/OL]. 兵工学报, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928.

SONG Z, CAO X, ZHOU W H, et al. Model predictive direct speed control of pmsm considering friction characteristics[J/OL]. Acta Armamentarii, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928. (in Chinese)
宋哲，曹轩，周威宏，等. 考虑摩擦特性的PMSM模型预测直接速度控制[J/OL]. 兵工学报, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928. DOI：

SONG Z, CAO X, ZHOU W H, et al. Model predictive direct speed control of pmsm considering friction characteristics[J/OL]. Acta Armamentarii, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928. (in Chinese) DOI：

摘要

为提高永磁同步电机（Permanent Magnet Synchronous Motor

PMSM）调速系统的控制性能，提出一种考虑摩擦特性的模型预测直接速度控制（Model Predictive Direct Speed Control

MPDSC）方法。根据PMSM数学模型，设计无权重因子的MPDSC控制方法，避免了权重因子的繁杂整定，提高了动态响应性能。通过引入龙伯格扰动观测器，增强了系统对负载扰动的抑制能力。针对通常被忽略的摩擦阻尼，分析了摩擦特性对MPDSC和扰动观测器的影响规律，并提出了一种改进的Stribeck摩擦模型来减少这种影响。该模型具有自适应速度相关性，能够精确反映摩擦力矩随转速变化的耦合特性。实验结果表明，与未考虑摩擦特性的MPDSC控制相比，所提方法动态响应提高了20%，超调量降低了40%，抗扰动性能提高了20%以上，明显提高了控制性能。该方法适用于一些摩擦现象比较严重的兵器伺服装备，如自行火炮驱动、导弹翼面作动器、雷达转台伺服等。

Abstract

This study introduces a model predictive direct speed control (MPDSC) strategy that incorporates friction characteristics to enhance the control performance of permanent magnet synchronous motor (PMSM) speed control systems. Based on the PMSM mathematical model

an unweighted MPDSC control method was designed to avoid the complex tuning of weighting factors and improve dynamic response. By introducing aLuenbergerdisturbance observer

the system's anti-interferenceability was enhanced. We analyzed the influence of friction characteristics on MPDSC and disturbance observer in response to the commonly overlooked friction damping

and proposed an improvedStribeckfriction model to reduce this influence. This model has adaptive speed correlation and can accurately reflect the coupling characteristics of friction torque with speed variation. The experimental results show that compared with the control without considering friction characteristics

the proposed method improves the dynamic response by 20%

reduces overshoot by 40%

and enhances disturbance resistance by over 20%

significantly improving the control performance. This method is applicable to some weapon servo equipmentwith severe friction phenomena

such asself-propelled artillery drive

missile wing actuator

radar turntable servo

etc.

关键词

Keywords

references

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