直线伺服系统的鲁棒二次最优控制  

Robust linear quadric optimal controller for permanent magnet linear synchronous motor servo system

作　　者：郭庆鼎[1] 李晓慧[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110023

出　　处：《沈阳工业大学学报》2007年第4期409-412,417,共5页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(59875061)

摘　　要：针对永磁直线同步伺服电机(PMLSM)直接驱动伺服系统存在的负载扰动等不确定性因素的影响,根据鲁棒二次最优控制理论来设计速度状态反馈控制器,在保持传统控制结构不变的同时,解决了直线电机伺服系统的鲁棒性问题,能够克服系统中存在的不确定性与外部干扰对系统性能的影响,实现对系统速度的跟踪控制.仿真结果表明,该方案在保证伺服系统的快速性、精确跟踪性的同时,对系统参数变化和阻力扰动具有很强的鲁棒性.For the influences of the uncertainties such as load disturbance in permanent magnet linear synchronous motor （PMLSM） direct servo system, a robust linear quadric （LQ） optimal control method was adopted, and a state feedback regulator was designed on the basis of closed velocity loop. The proposed scheme maintains the traditional control structure while keeping the robust character, and implements velocity tracking, which is realized by handling the system uncertainties from internal parts and the disturbances from the outside. The simulation results indicate that the LQ method has assured the swiftness, precision tracking to velocity, and strong robustness to system parameter variation and disturbances.

关 键 词：永磁直线同步电机 二次最优控制 鲁棒控制 速度跟踪 状态反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM383.3[自动化与计算机技术—控制科学与工程]