为永磁电机驱动设计了能保证带宽的实时离散控制器。
From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives
- 构建延迟感知的离散模型，直接合成满足性能要求的控制器。
- 实测表明采样频率和母线电压需求显著降低。
- 适合对动态响应要求高的机器人关节控制场景。
现代机器人关节日益增长的动态需求要求电流控制器在宽速、高加速度与大转矩范围内实现高带宽，此时通信、计算及离散时间效应不可忽略。传统永磁同步电机（PMSM）电流控制器通常在连续域设计后离散化，采样频率和实施延迟依赖经验选择与迭代验证。本文提出一种任务感知、延迟扩展的离散时间联合模型，显式建模物理通信与计算延迟，支持直接合成具备预定带宽和延迟保障的离散PI电流控制器。该框架可解析确定满足电机与关节性能要求的最小采样频率、控制器增益及直流母线电压。仿真验证了方法在多种动态需求下的有效性，结果表明相比传统连续设计，采样频率与直流母线电压需求大幅降低。实际实验在新开发的定制机器人关节上进行，进一步验证了该框架在真实嵌入式环境中的可行性。
原文摘要 · Abstract (English)
The increasing dynamic demands of modern robotic joints require current controllers to achieve high bandwidth over wide operating ranges of speed, acceleration, and torque, where communication, computation, and discrete-time effects can no longer be neglected. Conventional PMSM current controllers are typically designed in continuous time and subsequently discretized, leaving the sampling frequency and the impact of implementation delays largely to heuristic selection and iterative validation. This paper introduces a task-aware, delay-extended discrete-time joint model that explicitly accounts for physical communication and computation delays and enables direct synthesis of a discrete PI current controller with prescribed bandwidth and delay guarantees throughout the operating envelope. The framework analytically determines the minimum required sampling frequency, controller gains, and DC-link voltage needed to satisfy the specified motor and joint performance. Simulations across a range of dynamic requirements validate the methodology and demonstrate substantially reduced sampling-frequency and DC-link-voltage requirements compared with conventional continuous-time-based design. Experiments on a newly developed custom robotic joint further validate the proposed framework under real embedded implementation conditions.
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