永磁直线同步电机伺服系统鲁棒反步控制器设计

发布时间：2018-05-05 18:10

本文选题：永磁直线同步电机伺服系统 + 自适应控制　；参考：《电机与控制应用》2017年11期

【摘要】：针对永磁直线同步电机(PMLSM)伺服系统强鲁棒性、高控制精度的要求,提出一种鲁棒反步控制器。为了解决常规PID跟踪精度不高、参数调节难度大及鲁棒性差的问题,将自适应控制与反步控制结合。利用自适应机制实时估计系统的扰动,去除了反步控制设计过程中对外界扰动上界的要求,同时克服了控制律高频抖振的问题。同时,分析了闭环反馈系统中高频噪声的特性以及对系统的不利影响,使用低通滤波器来抑制高频噪声。最后,在Googol公司的试验平台上,通过与一种改进的PID对比,验证了设计的鲁棒反步控制器的可行性以及抑制高频噪声的有效性,可为先进控制理论的工程化提供参考。
[Abstract]:A robust backstepping controller is proposed for PMLSM servo system with strong robustness and high control precision. In order to solve the problems of low tracking accuracy, difficult parameter adjustment and poor robustness of conventional PID, adaptive control and backstepping control are combined. By using adaptive mechanism to estimate the disturbance of the system in real time, the requirement of the upper bound of the external disturbance in the design of backstepping control is removed, and the problem of high frequency buffeting of the control law is overcome at the same time. At the same time, the characteristics of the high frequency noise in the closed loop feedback system and its adverse effect are analyzed. The low pass filter is used to suppress the high frequency noise. Finally, the feasibility of the designed robust backstepping controller and the effectiveness of suppressing high frequency noise are verified by comparing with an improved PID on the test platform of Googol Company, which can provide a reference for the engineering of advanced control theory.
【作者单位】：火箭军工程大学二系;
【基金】：国家自然科学基金项目(51475462)
【分类号】：TM341;TM921.541

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