多模自适应模糊控制器及其在精密伺服系统中的应用  

Application to precise servo-system using multi-adaptive fuzzy controllers

作　　者：吕刚[1] 焦留成[2] 

机构地区：[1]北京交通大学电气工程学院,北京100044 [2]郑州大学电气工程学院,河南郑州450052

出　　处：《控制理论与应用》2005年第1期47-51,共5页Control Theory & Applications

基　　金：国家自然科学基金资助项目(69674021);河南省自然科学基金资助项目(004040500);河南省重大科技攻关项目(0223025300).

摘　　要：永磁直线同步电动机(PMLSM)的理论研究还不十分完善并且其工业应用也没有实现,因此不能利用其数学模型或简单模糊控制的方法对垂直运动的PMLSM实现良好控制.设计了直线伺服系统的多模自适应模糊控制器.首先应用自组织模糊控制器,它可以在先验知识十分缺乏的情况下自动形成良好的控制表.然后考虑到被控对象的多动态特性,加入自整因子层对量化因子和比例因子进行在线模糊修改,从而改善了控制器的动态和静态特性.为克服模糊控制不能实现无静差控制的不足,使用无静差的双模设计,提高了伺服系统稳态精度和动态响应速度.实验证明,该伺服系统能够消除PMLSM固有的负载扰动、端部效应、参数时变对系统伺服性能的影响;并且具有自组织自学习能力强,快速跟踪,定位精确,鲁棒性强等特点.Since the theory of permanent magnet linear synchronous motor (PMLSM) is not consummated and has not been applied to industry,the servo-system of the PMLSM vertical movement cannot be designed based on its math model or by using simple fuzzy controller.A multi-adaptive fuzzy controllers is proposed for the servo-system in this paper.First,the self-organizing fuzzy controller is designed and can get fuzzy rules automatically without expert experiments.Then,multi-dynamic characteristics of PMLSM are considered,so a self-adjusting layer is made to modify the quantitative factors and proportional factor and improve its static and dynamic characters.In order to eliminate the static error that fuzzy controller inheres,two fuzzy controllers without the static error are designed,and hence the servo-system will have better static and dynamic characters.The experiment results show that the design system can eliminate the influence of the load disturbances,end effects,and the change of (system) parameters.In fact,it has a strong robustness to uncertainties of control object,a strong ability of self-organization,a good tracking and positioning performance.

关 键 词：自适应模糊控制器 多模控制器 伺服系统 永磁直线同步电动机 垂直提升系统 

分 类 号：TM921.5[电气工程—电力电子与电力传动]