永磁同步直线电机的鲁棒迭代学习控制研究

发布时间：2018-01-15 14:25

本文关键词：永磁同步直线电机的鲁棒迭代学习控制研究　出处：《河南理工大学》2014年硕士论文　论文类型：学位论文

【摘要】：永磁同步直线电机(PMLSM)采用直接驱动,具有结构简单、推力大、死区小、传动效率高等优点,使得了越来越广泛地应用。PMSLM运动是靠短动子与长定子耦合产生推力的,实际运行定子与动子间的气隙很难保持恒定,随着绕组的切换或磁极的变化,其磁场会产生波动和不同的边端效应;PMSLM在运行中,随着负荷工况和电机温度变化等因素,使得系统参数发生变化,具有参数摄动及不确定性扰动的存在;在PMSLM驱动控制中,运行参数的检测会比较困难,如速度、位置和工角等,只能进行间接测量,往往产生测量扰动;在电机绕组分段投切时会导致输入饱和现象等。因此,PMSLM驱动与控制是一个非线性、多变量及强耦合的不确定对象。针对做重复性工作的PMSLM,对其受到的测量扰动、输入饱和、以及参数摄动和未建模动态等不确定扰动,本文拟采用鲁棒迭代学习控制方法(ILC)研究PMSLM的驱动控制策略。本文的研究工作主要包括以下三部分:一、针对PMSLM运行中出现的测量干扰,设计了一种带有滤波器的ILC算法。理论上证明了改进算法的收敛性,并通过仿真验证了带有滤波器的ILC算法对于抑制测量干扰的有效性。二、针对输入饱和造成的控制输入与被控对象实际输入不相等以及抑制这种不相等造成的影响,设计了一种能够保证PMSLM稳定运行,并获得良好的跟踪性能的ILC算法。同时通过理论证明了系统的收敛性,仿真证明了理论分析的正确性。三、针对系统中出现的参数摄动以及不确定因素,设计了一种自适应迭代学习控制器。通过理论分析、仿真验证,证明了控制方法的正确性,系统性能稳定、控制精度高,具有一定的鲁棒性。
[Abstract]:PMLSM (permanent Magnet synchronous Linear Motor) has the advantages of simple structure, large thrust, small dead zone, high transmission efficiency and so on. PMSLM motion is more and more widely used to generate thrust by coupling the short actuator and the long stator. The air gap between the stator and the actuator is difficult to keep constant with the winding switching or the change of magnetic pole. Its magnetic field will produce fluctuation and different side end effect. In the operation of PMSLM, with the change of load condition and motor temperature, the system parameters change, and the parameter perturbation and uncertainty disturbance exist. In the PMSLM drive control, it is difficult to detect the running parameters, such as velocity, position and angle, which can only be measured indirectly, and often cause measurement disturbance. The input saturation will be caused when the motor windings are switched off in sections. Therefore, the drive and control of PMSLM is a nonlinear, multivariable and strongly coupled uncertain object, aiming at the repetitive work of PMSLM. The disturbance of measurement, input saturation, parameter perturbation and unmodeled dynamics are investigated. In this paper, the robust iterative learning control method is used to study the driving control strategy of PMSLM. The research work of this paper mainly includes the following three parts: 1. A ILC algorithm with filter is designed for the measurement interference in PMSLM operation, and the convergence of the improved algorithm is proved theoretically. Simulation results show that the ILC algorithm with filter is effective to suppress measurement interference. 2. In view of the control input caused by input saturation and the actual input of the controlled object is not equal and the influence caused by this inequality is suppressed, a kind of PMSLM is designed to ensure the stable operation of the system. At the same time, the convergence of the system is proved by the theory, and the simulation proves the correctness of the theoretical analysis. Thirdly, the parameter perturbation and uncertainty factors appear in the system. An adaptive iterative learning controller is designed and verified by theoretical analysis and simulation. It is proved that the control method is correct, the system performance is stable, the control accuracy is high, and the controller is robust to a certain extent.
【学位授予单位】：河南理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM359.4

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