基于鲁棒H_∞控制的永磁直线伺服系统反馈线性化速度跟踪控制的研究  

Study on Feed Back Linearization Speed-tracking Control of Linear Servo System Based on Robust H_∞ Control

作　　者：蓝益鹏[1] 张琳琳[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110178

出　　处：《电气技术》2008年第9期51-54,共4页Electrical Engineering

基　　金：辽宁省教育厅科学研究计划资助(2004D040)

摘　　要：高速、高精直线伺服系统要求实现对速度的快速精确跟踪,但是,由于模型的非线性和变量间的耦合给系统控制带来困难。在高速、高精速度跟踪控制中,电流和速度的变化过程在时间尺度上相对接近,不能简单地采用磁场定向矢量控制方法实现静态解耦,否则电流和速度间的非线性耦合将破坏速度跟踪品质。因此,采用状态反馈线性化方法来实现永磁直线同步电动机(PMLSM)模型的精确线性化和动态解耦。利用非线性坐标变换和非线性反馈将系统解耦成独立的线性电流子系统和速度子系统。通过设计鲁棒H∞控制器来实现速度跟踪控制。仿真结果表明该方案PMLSM伺服系统具有良好的鲁棒速度跟踪性能。The rapid precision tracking of speed is required in high speed and high precision linear servo systems, but it is difficult to control because of the nonlinearity of the system model and the coupling between the variables. The variable processes of the current and speed is relative propinquity in the time scale , therefore the magnetic field directional vector control method cannot simply be used for the static decoupling ,otherwise the quality of speed tracking will be damaged by the nonlinear coupling between the current and speed. The feedback linearization method is used to achieve the precision linearization and dynamic decoupling of the permanent-magnet linear synchronous motor (PMLSM) servo system. The nonlinear coordinate commutation and nonlinear feedback are used for decoupling the servo to unattached linear current sub- system and speed sub- system. A robust H∞ controller is designed to realize speed-tracking control.Some simulation results show that this control scheme makes the PMLSM servo system have good robust speed- tracking performance.

关 键 词：永磁直线同步电动机 速度跟踪控制 非线性系统 反馈线性化 鲁棒H∞控制 

分 类 号：TM359.4[电气工程—电机]